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Revision 156

Updated robot_slave code; reformatted a lot of stuff

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Makefile
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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 RouleauF
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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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COLONYROOT = y:
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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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# Target file name (without extension).
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TARGET = robot_slave
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# List C source files here. (C dependencies are automatically generated.)
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SRC = $(wildcard *.c)
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#$(TARGET).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 = dwarf-2
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# List any extra directories to look for include files here.
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#     Each directory must be seperated by a space.
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#     Use forward slashes for directory separators.
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#     For a directory that has spaces, enclose it in quotes.
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EXTRAINCDIRS = /home/eugene/Robotics/Colony/roboclub_repository/svn/colony/code/colonet/lib/ ../../lib ../../lib/colonet_dragonfly/
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#$(COLONYROOT)/code/
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#C:\WinAVR\include\fwr
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# Compiler flag to set the C Standard level.
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#     c89   = "ANSI" C
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#     gnu89 = c89 plus GCC extensions
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#     c99   = ISO C99 standard (not yet fully implemented)
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#     gnu99 = c99 plus GCC extensions
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CSTANDARD = -std=gnu99
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# Place -D or -U options here
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CDEFS += -DF_CPU=$(F_CPU)UL 
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CDEFS += -DFFP
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CDEFS += -DUSE_STDIO
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# Place -I options here
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CINCS = 
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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 = -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 += $(patsubst %,-I%,$(EXTRAINCDIRS))
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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) $(MATH_LIB) # -lcolonet_dragonfly 
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#---------------- Programming Options (avrdude) ----------------
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# Programming hardware: alf avr910 avrisp bascom bsd 
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# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
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#
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# Type: avrdude -c ?
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# to get a full listing.
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#
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AVRDUDE_PROGRAMMER = avrisp
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# com1 = serial port. Use lpt1 to connect to parallel port.
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AVRDUDE_PORT = /dev/ttyUSB1 #com4
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# programmer connected to serial device
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AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(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/ttyUSB0
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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 = bash
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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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build: elf hex eep lss sym
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elf: $(TARGET).elf
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hex: $(TARGET).hex
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eep: $(TARGET).eep
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lss: $(TARGET).lss
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sym: $(TARGET).sym
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# Eye candy.
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# AVR Studio 3.x does not check make's exit code but relies on
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# the following magic strings to be generated by the compile job.
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begin:
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	@echo
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	@echo $(MSG_BEGIN)
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end:
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	@echo $(MSG_END)
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	@echo
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# Display size of file.
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HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
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ELFSIZE = $(SIZE) -A $(TARGET).elf
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AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
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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)
392
endif	
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	@echo break main >> $(GDBINIT_FILE)
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395
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
440
	@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.
451
%.sym: %.elf
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	@echo
453
	@echo $(MSG_SYMBOL_TABLE) $@
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	$(NM) -n $< > $@
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# Link: create ELF output file from object files.
459
.SECONDARY : $(TARGET).elf
460
.PRECIOUS : $(OBJ)
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%.elf: $(OBJ)
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	@echo
463
	@echo $(MSG_LINKING) $@
464
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) 
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# Compile: create object files from C source files.
468
%.o : %.c
469
	@echo
470
	@echo $(MSG_COMPILING) $<
471
	$(CC) -c $(ALL_CFLAGS) $< -o $@ 
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# Compile: create assembler files from C source files.
475
%.s : %.c
476
	$(CC) -S $(ALL_CFLAGS) $< -o $@
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# Assemble: create object files from assembler source files.
480
%.o : %.S
481
	@echo
482
	@echo $(MSG_ASSEMBLING) $<
483
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
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485
# Create preprocessed source for use in sending a bug report.
486
%.i : %.c
487
	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ 
488

  
489

  
490
# Target: clean project.
491
clean: begin clean_list end
492

  
493
clean_list :
494
	@echo
495
	@echo $(MSG_CLEANING)
496
	$(REMOVE) $(TARGET).hex
497
	$(REMOVE) $(TARGET).eep
498
	$(REMOVE) $(TARGET).cof
499
	$(REMOVE) $(TARGET).elf
500
	$(REMOVE) $(TARGET).map
501
	$(REMOVE) $(TARGET).sym
502
	$(REMOVE) $(TARGET).lss
503
	$(REMOVE) $(OBJ)
504
	$(REMOVE) $(LST)
505
	$(REMOVE) $(SRC:.c=.s)
506
	$(REMOVE) $(SRC:.c=.d)
507
	$(REMOVEDIR) .dep
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511
# Include the dependency files.
512
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
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514

  
515
# Listing of phony targets.
516
.PHONY : all begin finish end sizebefore sizeafter gccversion \
517
build elf hex eep lss sym coff extcoff \
518
clean clean_list program debug gdb-config
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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 = robot_slave
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 = /dev/ttyUSB2
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$(COLONYROOT)/code/lib/include/libdragonfly
120
CINCS += -L$(COLONYROOT)/code/lib/bin
121
ifdef USE_WIRELESS
122
	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless -I$(COLONYROOT)/code/projects/colonet/lib -I$(COLONYROOT)/code/projects/colonet/lib/colonet_dragonfly
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 -lcolonet_dragonfly
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
#---------------- Debugging Options ----------------
242

  
243
# For simulavr only - target MCU frequency.
244
DEBUG_MFREQ = $(F_CPU)
245

  
246
# Set the DEBUG_UI to either gdb or insight.
247
# DEBUG_UI = gdb
248
DEBUG_UI = insight
249

  
250
# Set the debugging back-end to either avarice, simulavr.
251
DEBUG_BACKEND = avarice
252
#DEBUG_BACKEND = simulavr
253

  
254
# GDB Init Filename.
255
GDBINIT_FILE = __avr_gdbinit
256

  
257
# When using avarice settings for the JTAG
258
JTAG_DEV = /dev/com1
259

  
260
# Debugging port used to communicate between GDB / avarice / simulavr.
261
DEBUG_PORT = 4242
262

  
263
# Debugging host used to communicate between GDB / avarice / simulavr, normally
264
#     just set to localhost unless doing some sort of crazy debugging when
265
#     avarice is running on a different computer.
266
DEBUG_HOST = localhost
267

  
268

  
269

  
270
#============================================================================
271

  
272

  
273
# Define programs and commands.
274
SHELL = sh
275
CC = avr-gcc
276
OBJCOPY = avr-objcopy
277
OBJDUMP = avr-objdump
278
SIZE = avr-size
279
NM = avr-nm
280
AVRDUDE = avrdude
281
REMOVE = rm -f
282
REMOVEDIR = rm -rf
283
COPY = cp
284
WINSHELL = cmd
285

  
286

  
287
# Define Messages
288
# English
289
MSG_ERRORS_NONE = Errors: none
290
MSG_BEGIN = -------- begin --------
291
MSG_END = --------  end  --------
292
MSG_SIZE_BEFORE = Size before:
293
MSG_SIZE_AFTER = Size after:
294
MSG_COFF = Converting to AVR COFF:
295
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
296
MSG_FLASH = Creating load file for Flash:
297
MSG_EEPROM = Creating load file for EEPROM:
298
MSG_EXTENDED_LISTING = Creating Extended Listing:
299
MSG_SYMBOL_TABLE = Creating Symbol Table:
300
MSG_LINKING = Linking:
301
MSG_COMPILING = Compiling:
302
MSG_ASSEMBLING = Assembling:
303
MSG_CLEANING = Cleaning project:
304

  
305

  
306

  
307

  
308
# Define all object files.
309
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
310

  
311
# Define all listing files.
312
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
313

  
314

  
315
# Compiler flags to generate dependency files.
316
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
317

  
318

  
319
# Combine all necessary flags and optional flags.
320
# Add target processor to flags.
321
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
322
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
323

  
324

  
325

  
326

  
327

  
328
# Default target.
329
all: begin gccversion sizebefore build sizeafter end
330

  
331
build: elf hex eep lss sym
332

  
333
elf: $(TARGET).elf
334
hex: $(TARGET).hex
335
eep: $(TARGET).eep
336
lss: $(TARGET).lss
337
sym: $(TARGET).sym
338

  
339

  
340

  
341
# Eye candy.
342
# AVR Studio 3.x does not check make's exit code but relies on
343
# the following magic strings to be generated by the compile job.
344
begin:
345
	@echo
346
	@echo $(MSG_BEGIN)
347

  
348
end:
349
	@echo $(MSG_END)
350
	@echo
351

  
352

  
353
# Display size of file.
354
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
355
ELFSIZE = $(SIZE) -A $(TARGET).elf
356
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
357

  
358
sizebefore:
359
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
360
	$(AVRMEM) 2>/dev/null; echo; fi
361

  
362
sizeafter:
363
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
364
	$(AVRMEM) 2>/dev/null; echo; fi
365

  
366

  
367

  
368
# Display compiler version information.
369
gccversion :
370
	@$(CC) --version
371

  
372

  
373

  
374
# Program the device.
375
program: $(TARGET).hex $(TARGET).eep
376
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
377

  
378

  
379
# Generate avr-gdb config/init file which does the following:
380
#     define the reset signal, load the target file, connect to target, and set
381
#     a breakpoint at main().
382
gdb-config:
383
	@$(REMOVE) $(GDBINIT_FILE)
384
	@echo define reset >> $(GDBINIT_FILE)
385
	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
386
	@echo end >> $(GDBINIT_FILE)
387
	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
388
	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
389
ifeq ($(DEBUG_BACKEND),simulavr)
390
	@echo load  >> $(GDBINIT_FILE)
391
endif
392
	@echo break main >> $(GDBINIT_FILE)
393

  
394
debug: gdb-config $(TARGET).elf
395
ifeq ($(DEBUG_BACKEND), avarice)
396
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
397
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
398
	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
399
	@$(WINSHELL) /c pause
400

  
401
else
402
	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
403
	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
404
endif
405
	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
406

  
407

  
408
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
409
COFFCONVERT=$(OBJCOPY) --debugging \
410
--change-section-address .data-0x800000 \
411
--change-section-address .bss-0x800000 \
412
--change-section-address .noinit-0x800000 \
413
--change-section-address .eeprom-0x810000
414

  
415
coff: $(TARGET).elf
416
	@echo
417
	@echo $(MSG_COFF) $(TARGET).cof
418
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
419

  
420

  
421
extcoff: $(TARGET).elf
422
	@echo
423
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
424
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
425

  
426

  
427

  
428
# Create final output files (.hex, .eep) from ELF output file.
429
%.hex: %.elf
430
	@echo
431
	@echo $(MSG_FLASH) $@
432
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
433

  
434
%.eep: %.elf
435
	@echo
436
	@echo $(MSG_EEPROM) $@
437
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
438
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
439

  
440
# Create extended listing file from ELF output file.
441
%.lss: %.elf
442
	@echo
443
	@echo $(MSG_EXTENDED_LISTING) $@
444
	$(OBJDUMP) -h -S $< > $@
445

  
446
# Create a symbol table from ELF output file.
447
%.sym: %.elf
448
	@echo
449
	@echo $(MSG_SYMBOL_TABLE) $@
450
	$(NM) -n $< > $@
451

  
452
# Link: create ELF output file from object files.
453
.SECONDARY : $(TARGET).elf
454
.PRECIOUS : $(OBJ)
455
%.elf: $(OBJ)
456
	@echo
457
	@echo $(MSG_LINKING) $@
458
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
459

  
460
# Compile: create object files from C source files.
461
%.o : %.c
462
	@echo
463
	@echo $(MSG_COMPILING) $<
464
	$(CC) -c $(ALL_CFLAGS) $< -o $@
465

  
466
# Compile: create assembler files from C source files.
467
%.s : %.c
468
	$(CC) -S $(ALL_CFLAGS) $< -o $@
469

  
470
# Assemble: create object files from assembler source files.
471
%.o : %.S
472
	@echo
473
	@echo $(MSG_ASSEMBLING) $<
474
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
475

  
476
# Create preprocessed source for use in sending a bug report.
477
%.i : %.c
478
	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
479

  
480
# Target: clean project.
481
clean: begin clean_list end
482

  
483
clean_list :
484
	@echo
485
	@echo $(MSG_CLEANING)
486
	$(REMOVE) $(TARGET).hex
487
	$(REMOVE) $(TARGET).eep
488
	$(REMOVE) $(TARGET).cof
489
	$(REMOVE) $(TARGET).elf
490
	$(REMOVE) $(TARGET).map
491
	$(REMOVE) $(TARGET).sym
492
	$(REMOVE) $(TARGET).lss
493
	$(REMOVE) $(OBJ)
494
	$(REMOVE) $(LST)
495
	$(REMOVE) $(SRC:.c=.s)
496
	$(REMOVE) $(SRC:.c=.d)
497
	$(REMOVEDIR) .dep
498

  
499
# Include the dependency files.
500
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
501

  
502
# Listing of phony targets.
503
.PHONY : all begin finish end sizebefore sizeafter gccversion \
504
build elf hex eep lss sym coff extcoff \
505
clean clean_list program debug gdb-config

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