root / branches / autonomous_recharging / code / projects / colonet / utilities / robot_slave / Makefile @ 1390
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1 | 13 | emarinel | # 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 RouleauF |
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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 = y: |
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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 = robot_slave |
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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 = dwarf-2 |
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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 = /home/eugene/Robotics/Colony/roboclub_repository/svn/colony/code/colonet/lib/ ../../lib ../../lib/colonet_dragonfly/ |
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100 | #$(COLONYROOT)/code/ |
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101 | #C:\WinAVR\include\fwr |
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102 | |||
103 | |||
104 | # Compiler flag to set the C Standard level. |
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105 | # c89 = "ANSI" C |
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106 | # gnu89 = c89 plus GCC extensions |
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107 | # c99 = ISO C99 standard (not yet fully implemented) |
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108 | # gnu99 = c99 plus GCC extensions |
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109 | CSTANDARD = -std=gnu99 |
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110 | |||
111 | |||
112 | # Place -D or -U options here |
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113 | CDEFS += -DF_CPU=$(F_CPU)UL |
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114 | CDEFS += -DFFP |
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115 | CDEFS += -DUSE_STDIO |
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116 | |||
117 | |||
118 | # Place -I options here |
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119 | CINCS = |
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120 | |||
121 | |||
122 | |||
123 | #---------------- Compiler Options ---------------- |
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124 | # -g*: generate debugging information |
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125 | # -O*: optimization level |
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126 | # -f...: tuning, see GCC manual and avr-libc documentation |
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127 | # -Wall...: warning level |
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128 | # -Wa,...: tell GCC to pass this to the assembler. |
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129 | # -adhlns...: create assembler listing |
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130 | CFLAGS = -g$(DEBUG) |
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131 | CFLAGS += $(CDEFS) $(CINCS) |
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132 | CFLAGS += -O$(OPT) |
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133 | CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
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134 | CFLAGS += -Wall -Wstrict-prototypes |
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135 | CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
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136 | CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) |
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137 | CFLAGS += $(CSTANDARD) |
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138 | |||
139 | |||
140 | #---------------- Assembler Options ---------------- |
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141 | # -Wa,...: tell GCC to pass this to the assembler. |
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142 | # -ahlms: create listing |
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143 | # -gstabs: have the assembler create line number information; note that |
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144 | # for use in COFF files, additional information about filenames |
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145 | # and function names needs to be present in the assembler source |
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146 | # files -- see avr-libc docs [FIXME: not yet described there] |
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147 | ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
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148 | |||
149 | |||
150 | #---------------- Library Options ---------------- |
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151 | # Minimalistic printf version |
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152 | PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
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153 | |||
154 | # Floating point printf version (requires MATH_LIB = -lm below) |
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155 | PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
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156 | |||
157 | # If this is left blank, then it will use the Standard printf version. |
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158 | PRINTF_LIB = |
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159 | #PRINTF_LIB = $(PRINTF_LIB_MIN) |
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160 | #PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
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161 | |||
162 | |||
163 | # Minimalistic scanf version |
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164 | SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
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165 | |||
166 | # Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
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167 | SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
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168 | |||
169 | # If this is left blank, then it will use the Standard scanf version. |
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170 | SCANF_LIB = |
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171 | #SCANF_LIB = $(SCANF_LIB_MIN) |
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172 | #SCANF_LIB = $(SCANF_LIB_FLOAT) |
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173 | |||
174 | |||
175 | MATH_LIB = -lm |
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176 | |||
177 | |||
178 | |||
179 | #---------------- External Memory Options ---------------- |
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180 | |||
181 | # 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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182 | # used for variables (.data/.bss) and heap (malloc()). |
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183 | #EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
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184 | |||
185 | # 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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186 | # only used for heap (malloc()). |
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187 | #EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
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188 | |||
189 | EXTMEMOPTS = |
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190 | |||
191 | |||
192 | |||
193 | #---------------- Linker Options ---------------- |
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194 | # -Wl,...: tell GCC to pass this to linker. |
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195 | # -Map: create map file |
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196 | # --cref: add cross reference to map file |
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197 | LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
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198 | LDFLAGS += $(EXTMEMOPTS) |
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199 | LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) # -lcolonet_dragonfly |
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200 | |||
201 | |||
202 | #---------------- Programming Options (avrdude) ---------------- |
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203 | |||
204 | # Programming hardware: alf avr910 avrisp bascom bsd |
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205 | # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
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206 | # |
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207 | # Type: avrdude -c ? |
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208 | # to get a full listing. |
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209 | # |
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210 | AVRDUDE_PROGRAMMER = avrisp |
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211 | |||
212 | # com1 = serial port. Use lpt1 to connect to parallel port. |
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213 | 1390 | chihsiuh | AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi) |
214 | 13 | emarinel | # programmer connected to serial device |
215 | |||
216 | AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
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217 | #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
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218 | |||
219 | |||
220 | # Uncomment the following if you want avrdude's erase cycle counter. |
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221 | # Note that this counter needs to be initialized first using -Yn, |
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222 | # see avrdude manual. |
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223 | #AVRDUDE_ERASE_COUNTER = -y |
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224 | |||
225 | # Uncomment the following if you do /not/ wish a verification to be |
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226 | # performed after programming the device. |
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227 | AVRDUDE_NO_VERIFY = -V |
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228 | |||
229 | # Increase verbosity level. Please use this when submitting bug |
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230 | # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
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231 | # to submit bug reports. |
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232 | #AVRDUDE_VERBOSE = -v -v |
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233 | |||
234 | AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
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235 | AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
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236 | AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
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237 | AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
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238 | |||
239 | #don't check for device signature |
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240 | AVRDUDE_FLAGS += -F |
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241 | |||
242 | |||
243 | |||
244 | #---------------- Debugging Options ---------------- |
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245 | |||
246 | # For simulavr only - target MCU frequency. |
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247 | DEBUG_MFREQ = $(F_CPU) |
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248 | |||
249 | # Set the DEBUG_UI to either gdb or insight. |
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250 | # DEBUG_UI = gdb |
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251 | DEBUG_UI = insight |
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252 | |||
253 | # Set the debugging back-end to either avarice, simulavr. |
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254 | DEBUG_BACKEND = avarice |
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255 | #DEBUG_BACKEND = simulavr |
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256 | |||
257 | # GDB Init Filename. |
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258 | GDBINIT_FILE = __avr_gdbinit |
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259 | |||
260 | # When using avarice settings for the JTAG |
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261 | JTAG_DEV = /dev/ttyUSB0 |
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262 | |||
263 | # Debugging port used to communicate between GDB / avarice / simulavr. |
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264 | DEBUG_PORT = 4242 |
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265 | |||
266 | # Debugging host used to communicate between GDB / avarice / simulavr, normally |
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267 | # just set to localhost unless doing some sort of crazy debugging when |
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268 | # avarice is running on a different computer. |
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269 | DEBUG_HOST = localhost |
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270 | |||
271 | |||
272 | |||
273 | #============================================================================ |
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274 | |||
275 | |||
276 | # Define programs and commands. |
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277 | SHELL = bash |
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278 | CC = avr-gcc |
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279 | OBJCOPY = avr-objcopy |
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280 | OBJDUMP = avr-objdump |
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281 | SIZE = avr-size |
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282 | NM = avr-nm |
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283 | AVRDUDE = avrdude |
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284 | REMOVE = rm -f |
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285 | REMOVEDIR = rm -rf |
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286 | COPY = cp |
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287 | WINSHELL = cmd |
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288 | |||
289 | |||
290 | # Define Messages |
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291 | # English |
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292 | MSG_ERRORS_NONE = Errors: none |
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293 | MSG_BEGIN = -------- begin -------- |
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294 | MSG_END = -------- end -------- |
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295 | MSG_SIZE_BEFORE = Size before: |
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296 | MSG_SIZE_AFTER = Size after: |
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297 | MSG_COFF = Converting to AVR COFF: |
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298 | MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
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299 | MSG_FLASH = Creating load file for Flash: |
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300 | MSG_EEPROM = Creating load file for EEPROM: |
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301 | MSG_EXTENDED_LISTING = Creating Extended Listing: |
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302 | MSG_SYMBOL_TABLE = Creating Symbol Table: |
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303 | MSG_LINKING = Linking: |
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304 | MSG_COMPILING = Compiling: |
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305 | MSG_ASSEMBLING = Assembling: |
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306 | MSG_CLEANING = Cleaning project: |
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307 | |||
308 | |||
309 | |||
310 | |||
311 | # Define all object files. |
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312 | OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
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313 | |||
314 | # Define all listing files. |
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315 | LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
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316 | |||
317 | |||
318 | # Compiler flags to generate dependency files. |
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319 | GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
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320 | |||
321 | |||
322 | # Combine all necessary flags and optional flags. |
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323 | # Add target processor to flags. |
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324 | ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
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325 | ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
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326 | |||
327 | |||
328 | |||
329 | # Default target. |
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330 | all: begin gccversion sizebefore build sizeafter end |
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331 | |||
332 | build: elf hex eep lss sym |
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333 | |||
334 | elf: $(TARGET).elf |
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335 | hex: $(TARGET).hex |
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336 | eep: $(TARGET).eep |
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337 | lss: $(TARGET).lss |
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338 | sym: $(TARGET).sym |
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339 | |||
340 | |||
341 | |||
342 | # Eye candy. |
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343 | # AVR Studio 3.x does not check make's exit code but relies on |
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344 | # the following magic strings to be generated by the compile job. |
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345 | begin: |
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346 | @echo |
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347 | @echo $(MSG_BEGIN) |
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348 | |||
349 | end: |
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350 | @echo $(MSG_END) |
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351 | @echo |
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352 | |||
353 | |||
354 | # Display size of file. |
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355 | HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
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356 | ELFSIZE = $(SIZE) -A $(TARGET).elf |
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357 | AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
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358 | |||
359 | sizebefore: |
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360 | @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
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361 | $(AVRMEM) 2>/dev/null; echo; fi |
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362 | |||
363 | sizeafter: |
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364 | @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
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365 | $(AVRMEM) 2>/dev/null; echo; fi |
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366 | |||
367 | |||
368 | |||
369 | # Display compiler version information. |
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370 | gccversion : |
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371 | @$(CC) --version |
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372 | |||
373 | |||
374 | |||
375 | # Program the device. |
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376 | program: $(TARGET).hex $(TARGET).eep |
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377 | $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
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378 | |||
379 | |||
380 | # Generate avr-gdb config/init file which does the following: |
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381 | # define the reset signal, load the target file, connect to target, and set |
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382 | # a breakpoint at main(). |
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383 | gdb-config: |
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384 | @$(REMOVE) $(GDBINIT_FILE) |
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385 | @echo define reset >> $(GDBINIT_FILE) |
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386 | @echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
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387 | @echo end >> $(GDBINIT_FILE) |
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388 | @echo file $(TARGET).elf >> $(GDBINIT_FILE) |
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389 | @echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
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390 | ifeq ($(DEBUG_BACKEND),simulavr) |
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391 | @echo load >> $(GDBINIT_FILE) |
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392 | endif |
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393 | @echo break main >> $(GDBINIT_FILE) |
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394 | |||
395 | debug: gdb-config $(TARGET).elf |
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396 | ifeq ($(DEBUG_BACKEND), avarice) |
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397 | @echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
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398 | @$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
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399 | $(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
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400 | @$(WINSHELL) /c pause |
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401 | |||
402 | else |
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403 | @$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
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404 | $(DEBUG_MFREQ) --port $(DEBUG_PORT) |
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405 | endif |
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406 | @$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
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407 | |||
408 | |||
409 | |||
410 | |||
411 | # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
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412 | COFFCONVERT=$(OBJCOPY) --debugging \ |
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413 | --change-section-address .data-0x800000 \ |
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414 | --change-section-address .bss-0x800000 \ |
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415 | --change-section-address .noinit-0x800000 \ |
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416 | --change-section-address .eeprom-0x810000 |
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417 | |||
418 | |||
419 | coff: $(TARGET).elf |
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420 | @echo |
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421 | @echo $(MSG_COFF) $(TARGET).cof |
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422 | $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
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423 | |||
424 | |||
425 | extcoff: $(TARGET).elf |
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426 | @echo |
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427 | @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
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428 | $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
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429 | |||
430 | |||
431 | |||
432 | # Create final output files (.hex, .eep) from ELF output file. |
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433 | %.hex: %.elf |
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434 | @echo |
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435 | @echo $(MSG_FLASH) $@ |
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436 | $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
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437 | |||
438 | %.eep: %.elf |
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439 | @echo |
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440 | @echo $(MSG_EEPROM) $@ |
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441 | -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
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442 | --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
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443 | |||
444 | # Create extended listing file from ELF output file. |
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445 | %.lss: %.elf |
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446 | @echo |
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447 | @echo $(MSG_EXTENDED_LISTING) $@ |
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448 | $(OBJDUMP) -h -S $< > $@ |
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449 | |||
450 | # Create a symbol table from ELF output file. |
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451 | %.sym: %.elf |
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452 | @echo |
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453 | @echo $(MSG_SYMBOL_TABLE) $@ |
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454 | $(NM) -n $< > $@ |
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455 | |||
456 | |||
457 | |||
458 | # Link: create ELF output file from object files. |
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459 | .SECONDARY : $(TARGET).elf |
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460 | .PRECIOUS : $(OBJ) |
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461 | %.elf: $(OBJ) |
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462 | @echo |
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463 | @echo $(MSG_LINKING) $@ |
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464 | $(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
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465 | |||
466 | |||
467 | # Compile: create object files from C source files. |
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468 | %.o : %.c |
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469 | @echo |
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470 | @echo $(MSG_COMPILING) $< |
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471 | $(CC) -c $(ALL_CFLAGS) $< -o $@ |
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472 | |||
473 | |||
474 | # Compile: create assembler files from C source files. |
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475 | %.s : %.c |
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476 | $(CC) -S $(ALL_CFLAGS) $< -o $@ |
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477 | |||
478 | |||
479 | # Assemble: create object files from assembler source files. |
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480 | %.o : %.S |
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481 | @echo |
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482 | @echo $(MSG_ASSEMBLING) $< |
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483 | $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
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484 | |||
485 | # Create preprocessed source for use in sending a bug report. |
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486 | %.i : %.c |
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487 | $(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
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488 | |||
489 | |||
490 | # Target: clean project. |
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491 | clean: begin clean_list end |
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492 | |||
493 | clean_list : |
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494 | @echo |
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495 | @echo $(MSG_CLEANING) |
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496 | $(REMOVE) $(TARGET).hex |
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497 | $(REMOVE) $(TARGET).eep |
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498 | $(REMOVE) $(TARGET).cof |
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499 | $(REMOVE) $(TARGET).elf |
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500 | $(REMOVE) $(TARGET).map |
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501 | $(REMOVE) $(TARGET).sym |
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502 | $(REMOVE) $(TARGET).lss |
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503 | $(REMOVE) $(OBJ) |
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504 | $(REMOVE) $(LST) |
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505 | $(REMOVE) $(SRC:.c=.s) |
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506 | $(REMOVE) $(SRC:.c=.d) |
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507 | $(REMOVEDIR) .dep |
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508 | |||
509 | |||
510 | |||
511 | # Include the dependency files. |
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512 | -include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
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513 | |||
514 | |||
515 | # Listing of phony targets. |
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516 | .PHONY : all begin finish end sizebefore sizeafter gccversion \ |
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517 | build elf hex eep lss sym coff extcoff \ |
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518 | clean clean_list program debug gdb-config |