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Revision 1486

Adding my implementation of Hunter-Prey to the collection.

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trunk/code/behaviors/hunter_prey/john/hunter_prey.c
1
#include "hunter_prey.h"
2
#include <dragonfly_lib.h>
3

  
4
#define TAG_TIME 3
5
#define TAG_RANGE 200
6

  
7
/**** This file should not be edited! ****/
8

  
9

  
10
/*
11
 * The criteria for tagging are the following:
12
 *   * The max bom is betweed 1 and 7
13
 *   * The front rangefinder reads less than TAG_RANGE
14
 *   * -1 values from the rangefinder are ignored
15
 *   * These conditions are met across TAG_TIME calls to this function
16
 */
17

  
18
unsigned char hunter_prey_tagged(int max_bom, int frontRange) {
19

  
20
  static int onTarget = 0;
21

  
22
  if(max_bom < 7 && max_bom > 1 && frontRange > 0 && frontRange < TAG_RANGE) {
23
    if(onTarget == 0) {
24
      onTarget = TAG_TIME;
25
      usb_puts("On target!\n");
26
    }
27
    else {
28
      if(--onTarget <= 0) {
29
	onTarget = 0;
30
	usb_puts("TAG!\n");
31
	return 1;
32
      }
33
    }
34
  }
35
  else{
36
    //don't reset onTarget because the robot got too close
37
    if(frontRange > 0)
38
      onTarget = 0;
39
  }
40

  
41
  return 0;
42

  
43
}
trunk/code/behaviors/hunter_prey/john/main.c
1
#include <dragonfly_lib.h>
2
#include <wl_basic.h>
3
#include "hunter_prey.h"
4
#include "encoders.h"
5

  
6
#define WL_CHANNEL 					15
7

  
8
#define BACK_THRESHOLD 			-5000
9
#define TURN_DIST						1024
10
#define IR_DIST_THRESHOLD		200
11

  
12
/* State Macros */
13

  
14
/* Top Level FSM */
15
#define TOP_INIT						0
16
#define TOP_HUNTER_HUNT			1
17
#define TOP_HUNTER_TAG			2
18
#define TOP_HUNTER_PURSUE		3
19
#define TOP_PREY_AVOID			4
20
#define TOP_HUNTER_WAIT			5
21
#define TOP_ERROR						6
22

  
23
/* Hunter FSM */
24
#define HUNTER_SPIRAL				0
25
#define HUNTER_CHASE				1
26

  
27
/* Prey FSM */
28
#define PREY_START_BACK			0
29
#define PREY_BACKING				1
30
#define PREY_TURN						2
31
#define PREY_AVOID					3
32

  
33

  
34
/* Function prototype declarations */
35
int hunter_FSM(int, int, int);
36
int prey_FSM(int);
37

  
38
/* Variables used to receive packets */
39
unsigned char* packet_data;
40
int data_length;
41

  
42
/*  Data buffer used to send packets */
43
char send_buffer[1];
44

  
45
int main(void)
46
{
47

  
48
    /* Initialize dragonfly board */
49
    dragonfly_init(ALL_ON);
50
		xbee_init();
51
		encoders_init();
52

  
53
    /* Initialize the basic wireless library */
54
    wl_basic_init_default();
55

  
56
    /* Set the XBee channel to assigned channel */
57
    wl_set_channel(WL_CHANNEL);
58

  
59

  
60
    /* ****** CODE HERE ******* */
61

  
62
		/* Initialize state machines */
63
		int state = TOP_INIT;
64
		int hunter_state = HUNTER_SPIRAL;
65
		int prey_state = PREY_AVOID;
66

  
67
		int frontIR = 0;
68
		int maxBOM = 0;
69
		int robotID = get_robotid();
70
		int oldTime = 0, curTime = 0;
71

  
72
		while (1) {
73

  
74
			packet_data = wl_basic_do_default(&data_length);
75

  
76
			switch(state) {
77

  
78
				case TOP_INIT:
79
					orbs_set_color(RED, GREEN);
80
					delay_ms(500);
81
					orbs_set_color(GREEN, RED);
82
					delay_ms(500);
83

  
84
					if (button1_read()) {
85
						state = TOP_PREY_AVOID;
86
						prey_state = PREY_AVOID;
87
					} else {
88
						state = TOP_HUNTER_HUNT;
89
						hunter_state = HUNTER_SPIRAL;
90
					}
91
					break;
92
				case TOP_HUNTER_HUNT:
93
					orbs_set_color(RED, RED);
94

  
95
					if (packet_data && data_length == 2
96
							&& packet_data[0] == HUNTER_PREY_ACTION_ACK) {
97
						state = TOP_HUNTER_WAIT;
98
					} else {
99
						bom_refresh(BOM_ALL);
100
						frontIR = range_read_distance(IR2);
101
						maxBOM = get_max_bom();
102
						if (hunter_prey_tagged(maxBOM, frontIR) || button1_read()) {
103
							state = TOP_HUNTER_TAG;
104
						} else {
105
							hunter_state = hunter_FSM(hunter_state, maxBOM, frontIR);
106
						}
107
					}
108
					break;
109
				case TOP_HUNTER_TAG:
110
					orbs_set_color(RED, PURPLE);
111
					delay_ms(500);
112

  
113
					if (packet_data && data_length == 2
114
							&& packet_data[0] == HUNTER_PREY_ACTION_ACK) {
115
						state = TOP_HUNTER_WAIT;
116
					} else {
117
						send_buffer[0] = HUNTER_PREY_ACTION_TAG;
118
						send_buffer[1] = robotID;
119
						wl_basic_send_global_packet(42, send_buffer, 2);
120

  
121
						oldTime = rtc_get();
122
						state = TOP_HUNTER_PURSUE;
123
					}
124
					break;
125
				case TOP_HUNTER_PURSUE:
126
					orbs_set_color(RED, BLUE);
127
					curTime = rtc_get();
128
					
129
					if (packet_data && data_length == 2
130
							&& packet_data[0] == HUNTER_PREY_ACTION_ACK) {
131

  
132
						if (packet_data[1] == robotID) {
133
							state = TOP_PREY_AVOID;
134
							prey_state = PREY_START_BACK;
135
						} else {
136
							state = TOP_HUNTER_WAIT;
137
						}
138

  
139
					} else if (curTime - oldTime > 1) {
140
						state = TOP_HUNTER_HUNT;
141
					} else if (oldTime > curTime) {		// If overflow or was reset, restart
142
						oldTime = curTime;
143
					} else {
144
						bom_refresh(BOM_ALL);
145
						frontIR = range_read_distance(IR2);
146
						maxBOM = get_max_bom();
147
						hunter_state = hunter_FSM(hunter_state, maxBOM, frontIR);
148
					}
149
					break;
150
				case TOP_PREY_AVOID:
151
					orbs_set_color(GREEN, GREEN);
152
					if (packet_data && data_length == 2
153
							&& packet_data[0] == HUNTER_PREY_ACTION_TAG) {
154

  
155
						send_buffer[0] = HUNTER_PREY_ACTION_ACK;
156
						send_buffer[1] = packet_data[1];
157
						wl_basic_send_global_packet(42, send_buffer, 2);
158
						
159
						bom_off();
160
						motors_off();
161
						state = TOP_HUNTER_WAIT;
162
					} else {
163
						bom_on();
164
						prey_state = prey_FSM(prey_state);
165
					}					
166
					break;
167
				case TOP_HUNTER_WAIT:
168
					orbs_set_color(BLUE, BLUE);
169
					delay_ms(5000);
170
					state = TOP_HUNTER_HUNT;
171
					hunter_state = HUNTER_SPIRAL;
172
					break;
173
				case TOP_ERROR:
174
				default:
175
					orbs_set_color(PURPLE, PURPLE);
176
					state = TOP_ERROR;
177
					while(1);
178
					break;
179
			}
180

  
181
		}
182

  
183
    /* ****** END HERE ******* */
184

  
185
    while(1);
186

  
187
    return 0;
188

  
189
}
190

  
191
int prey_FSM(int prey_state) {
192

  
193
	int rangeVals[3] = {0, 0, 0};
194
	
195
	switch (prey_state) {
196

  
197
		case PREY_START_BACK:
198
			motor_l_set(BACKWARD, 255);
199
			motor_r_set(BACKWARD, 255);
200
			encoder_rst_dx(LEFT);
201
			return PREY_BACKING;
202
			break;
203
		case PREY_BACKING:
204
			if (encoder_get_x(LEFT) < BACK_THRESHOLD) {
205
				motor_l_set(BACKWARD, 255);
206
				motor_r_set(FORWARD, 255);
207
				encoder_rst_dx(RIGHT);
208
				return PREY_TURN;
209
			} else {
210
				return PREY_BACKING;
211
			}
212
			break;
213
		case PREY_TURN:
214
			if (encoder_get_x(RIGHT) > TURN_DIST) {
215
				return PREY_AVOID;				
216
			} else {
217
				return PREY_TURN;
218
			}
219
			break;
220
		case PREY_AVOID:
221
			rangeVals[0] = range_read_distance(IR1);
222
			rangeVals[1] = range_read_distance(IR2);
223
			rangeVals[2] = range_read_distance(IR3);
224

  
225
			if (rangeVals[1] > 0 && rangeVals[1] < IR_DIST_THRESHOLD) {
226
				motor_l_set(FORWARD, 255);
227
				motor_r_set(BACKWARD, 255);
228
				return PREY_AVOID;
229
			} else if (rangeVals[0] > 0 && rangeVals[0] < IR_DIST_THRESHOLD) {
230
				motor_l_set(FORWARD, 255);
231
				motor_r_set(FORWARD, 170);
232
				return PREY_AVOID;
233
			} else if (rangeVals[2] > 0 && rangeVals[2] < IR_DIST_THRESHOLD) {
234
				motor_l_set(FORWARD, 170);
235
				motor_r_set(FORWARD, 255);
236
				return PREY_AVOID;
237
			} else {			
238
				motor_l_set(FORWARD, 255);
239
				motor_r_set(FORWARD, 255);
240
				return PREY_AVOID;
241
			}
242
			break;
243
		default:
244
			return PREY_AVOID;
245
			break;
246

  
247
	}
248
	
249
	return prey_state;
250

  
251
}
252

  
253
int hunter_FSM(int hunter_state, int maxBOM, int frontIR) {
254

  
255
	switch(hunter_state) {
256

  
257
		case HUNTER_SPIRAL:
258
			if (maxBOM != -1) {
259
				return HUNTER_CHASE;
260
			} else {
261
				motor_l_set(FORWARD, 170);
262
				motor_r_set(FORWARD, 190);
263
				return HUNTER_SPIRAL;
264
			}
265
			break;
266
		case HUNTER_CHASE:
267
			if (maxBOM == -1) {
268
				return HUNTER_CHASE;
269
			} else if (maxBOM == 4) {
270
				motor_l_set(FORWARD, 255);
271
				motor_r_set(FORWARD, 255);
272
				return HUNTER_CHASE;
273
			} else if (maxBOM == 3) {
274
				motor_l_set(FORWARD, 255);
275
				motor_r_set(FORWARD, 240);
276
				return HUNTER_CHASE;
277
			} else if (maxBOM == 5) {
278
				motor_l_set(FORWARD, 240);
279
				motor_r_set(FORWARD, 255);
280
				return HUNTER_CHASE;
281
			} else if (maxBOM < 3) {
282
				motor_l_set(FORWARD, 255);
283
				motor_r_set(FORWARD, 170);
284
				return HUNTER_CHASE;
285
			} else if (maxBOM > 5 && maxBOM <= 8) {
286
				motor_l_set(FORWARD, 170);
287
				motor_r_set(FORWARD, 255);
288
				return HUNTER_CHASE;
289
			} else if (maxBOM > 8 && maxBOM < 12) {
290
				motor_l_set(BACKWARD, 255);
291
				motor_r_set(FORWARD, 255);
292
				return HUNTER_CHASE;
293
			} else {
294
				motor_l_set(FORWARD, 255);
295
				motor_r_set(BACKWARD, 255);
296
				return HUNTER_CHASE;
297
			}
298
			break;
299
		default:
300
			return HUNTER_SPIRAL;
301
			break;
302

  
303
	}
304

  
305
	return hunter_state;
306

  
307
}
trunk/code/behaviors/hunter_prey/john/hunter_prey.h
1
#ifndef _HUNTER_PREY_H
2
#define _HUNTER_PREY_H
3

  
4
#include <inttypes.h>
5

  
6
/**** This file should not be edited! ****/
7

  
8
/*
9
 * The packet structure is 2 bytes
10
 * byte 0 is the action, which is one of the values below
11
 * byte 1 is the robot id
12
 */
13

  
14
#define HUNTER_PREY_ACTION_TAG 'T'
15
#define HUNTER_PREY_ACTION_ACK 'A'
16

  
17
unsigned char hunter_prey_tagged(int max_bom, int front_rangefinder);
18

  
19
#endif
trunk/code/behaviors/hunter_prey/john/Makefile
1
########Update This Section########
2
#
3
#
4

  
5
# Relative path to the root directory (containing lib directory)
6
ifndef COLONYROOT
7
COLONYROOT = ../.
8
endif
9

  
10
# Target file name (without extension).
11
TARGET = main
12

  
13
# Uncomment this to use the wireless library
14
USE_WIRELESS = 1
15

  
16
# com1 = serial port. Use lpt1 to connect to parallel port.
17
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
18

  
19
#
20
###################################
21

  
22
# Hey Emacs, this is a -*- makefile -*-
23
#----------------------------------------------------------------------------
24
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.
25
#
26
# Released to the Public Domain
27
#
28
# Additional material for this makefile was written by:
29
# Peter Fleury
30
# Tim Henigan
31
# Colin O'Flynn
32
# Reiner Patommel
33
# Markus Pfaff
34
# Sander Pool
35
# Frederik Rouleau
36
#
37
#----------------------------------------------------------------------------
38
# On command line:
39
#
40
# make all = Make software.
41
#
42
# make clean = Clean out built project files.
43
#
44
# make coff = Convert ELF to AVR COFF.
45
#
46
# make extcoff = Convert ELF to AVR Extended COFF.
47
#
48
# make program = Download the hex file to the device, using avrdude.
49
#                Please customize the avrdude settings below first!
50
#
51
# make debug = Start either simulavr or avarice as specified for debugging,
52
#              with avr-gdb or avr-insight as the front end for debugging.
53
#
54
# make filename.s = Just compile filename.c into the assembler code only.
55
#
56
# make filename.i = Create a preprocessed source file for use in submitting
57
#                   bug reports to the GCC project.
58
#
59
# To rebuild project do "make clean" then "make all".
60
#----------------------------------------------------------------------------
61

  
62
#if you want your code to work on the Firefly++ and not Firefly+
63
#then add the -DFFPP line to CDEFS
64
CDEFS =
65
#-DFFPP
66

  
67
# MCU name
68
MCU = atmega128
69

  
70
# Processor frequency.
71
#     This will define a symbol, F_CPU, in all source code files equal to the
72
#     processor frequency. You can then use this symbol in your source code to
73
#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
74
#     automatically to create a 32-bit value in your source code.
75
F_CPU = 8000000
76

  
77
# Output format. (can be srec, ihex, binary)
78
FORMAT = ihex
79

  
80
# List C source files here. (C dependencies are automatically generated.)
81
SRC = $(wildcard *.c)
82

  
83
# List Assembler source files here.
84
#     Make them always end in a capital .S.  Files ending in a lowercase .s
85
#     will not be considered source files but generated files (assembler
86
#     output from the compiler), and will be deleted upon "make clean"!
87
#     Even though the DOS/Win* filesystem matches both .s and .S the same,
88
#     it will preserve the spelling of the filenames, and gcc itself does
89
#     care about how the name is spelled on its command-line.
90
ASRC =
91

  
92
# Optimization level, can be [0, 1, 2, 3, s].
93
#     0 = turn off optimization. s = optimize for size.
94
#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
95
OPT = s
96

  
97
# Debugging format.
98
#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
99
#     AVR Studio 4.10 requires dwarf-2.
100
#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
101
DEBUG =
102

  
103
# Compiler flag to set the C Standard level.
104
#     c89   = "ANSI" C
105
#     gnu89 = c89 plus GCC extensions
106
#     c99   = ISO C99 standard (not yet fully implemented)
107
#     gnu99 = c99 plus GCC extensions
108
CSTANDARD = -std=gnu99
109

  
110
# Place -D or -U options here
111
CDEFS += -DF_CPU=$(F_CPU)UL
112
CDEFS += -DFFP
113
# for wireless library
114
ifdef USE_WIRELESS
115
	CDEFS += -DROBOT
116
endif
117

  
118
# Place -I, -L options here
119
CINCS = -I$(COLONYROOT)/Library/include/libdragonfly
120
CINCS += -L$(COLONYROOT)/Library/bin
121
ifdef USE_WIRELESS
122
	CINCS += -I$(COLONYROOT)/Library/include/libwireless
123
endif
124

  
125
#---------------- Compiler Options ----------------
126
#  -g*:          generate debugging information
127
#  -O*:          optimization level
128
#  -f...:        tuning, see GCC manual and avr-libc documentation
129
#  -Wall...:     warning level
130
#  -Wa,...:      tell GCC to pass this to the assembler.
131
#    -adhlns...: create assembler listing
132
CFLAGS =
133
# CFLAGS = -g$(DEBUG)
134
CFLAGS += $(CDEFS) $(CINCS)
135
CFLAGS += -O$(OPT)
136
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
137
CFLAGS += -Wall -Wstrict-prototypes
138
CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
139
CFLAGS += $(CSTANDARD)
140

  
141
#---------------- Assembler Options ----------------
142
#  -Wa,...:   tell GCC to pass this to the assembler.
143
#  -ahlms:    create listing
144
#  -gstabs:   have the assembler create line number information; note that
145
#             for use in COFF files, additional information about filenames
146
#             and function names needs to be present in the assembler source
147
#             files -- see avr-libc docs [FIXME: not yet described there]
148
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
149

  
150

  
151
#---------------- Library Options ----------------
152
# Minimalistic printf version
153
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
154

  
155
# Floating point printf version (requires MATH_LIB = -lm below)
156
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
157

  
158
# If this is left blank, then it will use the Standard printf version.
159
#PRINTF_LIB =
160
#PRINTF_LIB = $(PRINTF_LIB_MIN)
161
PRINTF_LIB = $(PRINTF_LIB_FLOAT)
162

  
163

  
164
# Minimalistic scanf version
165
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
166

  
167
# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
168
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
169

  
170
# If this is left blank, then it will use the Standard scanf version.
171
SCANF_LIB =
172
#SCANF_LIB = $(SCANF_LIB_MIN)
173
#SCANF_LIB = $(SCANF_LIB_FLOAT)
174

  
175
MATH_LIB = -lm
176

  
177
#---------------- External Memory Options ----------------
178

  
179
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
180
# used for variables (.data/.bss) and heap (malloc()).
181
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
182

  
183
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
184
# only used for heap (malloc()).
185
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
186

  
187
EXTMEMOPTS =
188

  
189
#---------------- Linker Options ----------------
190
#  -Wl,...:     tell GCC to pass this to linker.
191
#    -Map:      create map file
192
#    --cref:    add cross reference to  map file
193
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
194
LDFLAGS += $(EXTMEMOPTS)
195
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
196
ifdef USE_WIRELESS
197
	LDFLAGS += -lwireless
198
endif
199
LDFLAGS += -ldragonfly
200

  
201

  
202

  
203
#---------------- Programming Options (avrdude) ----------------
204

  
205
# Programming hardware: alf avr910 avrisp bascom bsd
206
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
207
#
208
# Type: avrdude -c ?
209
# to get a full listing.
210
#
211
AVRDUDE_PROGRAMMER = avrisp
212

  
213
# programmer connected to serial device
214

  
215
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
216
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
217

  
218

  
219
# Uncomment the following if you want avrdude's erase cycle counter.
220
# Note that this counter needs to be initialized first using -Yn,
221
# see avrdude manual.
222
#AVRDUDE_ERASE_COUNTER = -y
223

  
224
# Uncomment the following if you do /not/ wish a verification to be
225
# performed after programming the device.
226
#AVRDUDE_NO_VERIFY = -V
227

  
228
# Increase verbosity level.  Please use this when submitting bug
229
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
230
# to submit bug reports.
231
#AVRDUDE_VERBOSE = -v -v
232

  
233
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
234
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
235
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
236
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
237

  
238
#don't check for device signature
239
AVRDUDE_FLAGS += -F
240

  
241

  
242

  
243
#---------------- Debugging Options ----------------
244

  
245
# For simulavr only - target MCU frequency.
246
DEBUG_MFREQ = $(F_CPU)
247

  
248
# Set the DEBUG_UI to either gdb or insight.
249
# DEBUG_UI = gdb
250
DEBUG_UI = insight
251

  
252
# Set the debugging back-end to either avarice, simulavr.
253
DEBUG_BACKEND = avarice
254
#DEBUG_BACKEND = simulavr
255

  
256
# GDB Init Filename.
257
GDBINIT_FILE = __avr_gdbinit
258

  
259
# When using avarice settings for the JTAG
260
JTAG_DEV = /dev/com1
261

  
262
# Debugging port used to communicate between GDB / avarice / simulavr.
263
DEBUG_PORT = 4242
264

  
265
# Debugging host used to communicate between GDB / avarice / simulavr, normally
266
#     just set to localhost unless doing some sort of crazy debugging when
267
#     avarice is running on a different computer.
268
DEBUG_HOST = localhost
269

  
270

  
271

  
272
#============================================================================
273

  
274

  
275
# Define programs and commands.
276
SHELL = sh
277
CC = avr-gcc
278
OBJCOPY = avr-objcopy
279
OBJDUMP = avr-objdump
280
SIZE = avr-size
281
NM = avr-nm
282
AVRDUDE = avrdude
283
REMOVE = rm -f
284
REMOVEDIR = rm -rf
285
COPY = cp
286
WINSHELL = cmd
287

  
288

  
289
# Define Messages
290
# English
291
MSG_ERRORS_NONE = Errors: none
292
MSG_BEGIN = -------- begin --------
293
MSG_END = --------  end  --------
294
MSG_SIZE_BEFORE = Size before:
295
MSG_SIZE_AFTER = Size after:
296
MSG_COFF = Converting to AVR COFF:
297
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
298
MSG_FLASH = Creating load file for Flash:
299
MSG_EEPROM = Creating load file for EEPROM:
300
MSG_EXTENDED_LISTING = Creating Extended Listing:
301
MSG_SYMBOL_TABLE = Creating Symbol Table:
302
MSG_LINKING = Linking:
303
MSG_COMPILING = Compiling:
304
MSG_ASSEMBLING = Assembling:
305
MSG_CLEANING = Cleaning project:
306

  
307

  
308

  
309

  
310
# Define all object files.
311
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
312

  
313
# Define all listing files.
314
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
315

  
316

  
317
# Compiler flags to generate dependency files.
318
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
319

  
320

  
321
# Combine all necessary flags and optional flags.
322
# Add target processor to flags.
323
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
324
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
325

  
326

  
327

  
328

  
329

  
330
# Default target.
331
all: begin gccversion sizebefore build sizeafter end
332

  
333
build: elf hex eep lss sym
334

  
335
elf: $(TARGET).elf
336
hex: $(TARGET).hex
337
eep: $(TARGET).eep
338
lss: $(TARGET).lss
339
sym: $(TARGET).sym
340

  
341

  
342

  
343
# Eye candy.
344
# AVR Studio 3.x does not check make's exit code but relies on
345
# the following magic strings to be generated by the compile job.
346
begin:
347
	@echo
348
	@echo $(MSG_BEGIN)
349

  
350
end:
351
	@echo $(MSG_END)
352
	@echo
353

  
354

  
355
# Display size of file.
356
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
357
ELFSIZE = $(SIZE) -A $(TARGET).elf
358
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
359

  
360
sizebefore:
361
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
362
	$(AVRMEM) 2>/dev/null; echo; fi
363

  
364
sizeafter:
365
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
366
	$(AVRMEM) 2>/dev/null; echo; fi
367

  
368

  
369

  
370
# Display compiler version information.
371
gccversion :
372
	@$(CC) --version
373

  
374

  
375

  
376
# Program the device.
377
program: $(TARGET).hex $(TARGET).eep
378
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
379

  
380

  
381
# Generate avr-gdb config/init file which does the following:
382
#     define the reset signal, load the target file, connect to target, and set
383
#     a breakpoint at main().
384
gdb-config:
385
	@$(REMOVE) $(GDBINIT_FILE)
386
	@echo define reset >> $(GDBINIT_FILE)
387
	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
388
	@echo end >> $(GDBINIT_FILE)
389
	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
390
	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
391
ifeq ($(DEBUG_BACKEND),simulavr)
392
	@echo load  >> $(GDBINIT_FILE)
393
endif
394
	@echo break main >> $(GDBINIT_FILE)
395

  
396
debug: gdb-config $(TARGET).elf
397
ifeq ($(DEBUG_BACKEND), avarice)
398
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
399
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
400
	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
401
	@$(WINSHELL) /c pause
402

  
403
else
404
	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
405
	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
406
endif
407
	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
408

  
409

  
410

  
411

  
412
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
413
COFFCONVERT=$(OBJCOPY) --debugging \
414
--change-section-address .data-0x800000 \
415
--change-section-address .bss-0x800000 \
416
--change-section-address .noinit-0x800000 \
417
--change-section-address .eeprom-0x810000
418

  
419

  
420
coff: $(TARGET).elf
421
	@echo
422
	@echo $(MSG_COFF) $(TARGET).cof
423
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
424

  
425

  
426
extcoff: $(TARGET).elf
427
	@echo
428
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
429
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
430

  
431

  
432

  
433
# Create final output files (.hex, .eep) from ELF output file.
434
%.hex: %.elf
435
	@echo
436
	@echo $(MSG_FLASH) $@
437
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
438

  
439
%.eep: %.elf
440
	@echo
441
	@echo $(MSG_EEPROM) $@
442
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
443
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
444

  
445
# Create extended listing file from ELF output file.
446
%.lss: %.elf
447
	@echo
448
	@echo $(MSG_EXTENDED_LISTING) $@
449
	$(OBJDUMP) -h -S $< > $@
450

  
451
# Create a symbol table from ELF output file.
452
%.sym: %.elf
453
	@echo
454
	@echo $(MSG_SYMBOL_TABLE) $@
455
	$(NM) -n $< > $@
456

  
457

  
458

  
459
# Link: create ELF output file from object files.
460
.SECONDARY : $(TARGET).elf
461
.PRECIOUS : $(OBJ)
462
%.elf: $(OBJ)
463
	@echo
464
	@echo $(MSG_LINKING) $@
465
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
466

  
467

  
468
# Compile: create object files from C source files.
469
%.o : %.c
470
	@echo
471
	@echo $(MSG_COMPILING) $<
472
	$(CC) -c $(ALL_CFLAGS) $< -o $@
473

  
474

  
475
# Compile: create assembler files from C source files.
476
%.s : %.c
477
	$(CC) -S $(ALL_CFLAGS) $< -o $@
478

  
479

  
480
# Assemble: create object files from assembler source files.
481
%.o : %.S
482
	@echo
483
	@echo $(MSG_ASSEMBLING) $<
484
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
485

  
486
# Create preprocessed source for use in sending a bug report.
487
%.i : %.c
488
	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
489

  
490

  
491
# Target: clean project.
492
clean: begin clean_list end
493

  
494
clean_list :
495
	@echo
496
	@echo $(MSG_CLEANING)
497
	$(REMOVE) $(TARGET).hex
498
	$(REMOVE) $(TARGET).eep
499
	$(REMOVE) $(TARGET).cof
500
	$(REMOVE) $(TARGET).elf
501
	$(REMOVE) $(TARGET).map
502
	$(REMOVE) $(TARGET).sym
503
	$(REMOVE) $(TARGET).lss
504
	$(REMOVE) $(OBJ)
505
	$(REMOVE) $(LST)
506
	$(REMOVE) $(SRC:.c=.s)
507
	$(REMOVE) $(SRC:.c=.d)
508
	$(REMOVEDIR) .dep
509

  
510

  
511

  
512
# Include the dependency files.
513
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
514

  
515

  
516
# Listing of phony targets.
517
.PHONY : all begin finish end sizebefore sizeafter gccversion \
518
build elf hex eep lss sym coff extcoff \
519
clean clean_list program debug gdb-config
520

  

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