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1 | 50 | jscheine | ########Update This Section######## |
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2 | # |
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3 | # |
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4 | |||
5 | # Relative path to the root directory (containing lib directory) |
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6 | 71 | jscheine | ifndef COLONYROOT |
7 | 50 | jscheine | COLONYROOT = ../../.. |
8 | 71 | jscheine | endif |
9 | 50 | jscheine | |
10 | # Target file name (without extension). |
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11 | TARGET = robot_main |
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12 | |||
13 | # Uncomment this to use the wireless library |
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14 | USE_WIRELESS = 1 |
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15 | |||
16 | # com1 = serial port. Use lpt1 to connect to parallel port. |
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17 | AVRDUDE_PORT = com4 |
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18 | |||
19 | robot: all |
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20 | TARGET = robot_main |
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21 | |||
22 | # |
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23 | # |
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24 | ################################### |
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25 | |||
26 | # Hey Emacs, this is a -*- makefile -*- |
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27 | #---------------------------------------------------------------------------- |
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28 | # WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
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29 | # |
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30 | # Released to the Public Domain |
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31 | # |
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32 | # Additional material for this makefile was written by: |
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33 | # Peter Fleury |
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34 | # Tim Henigan |
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35 | # Colin O'Flynn |
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36 | # Reiner Patommel |
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37 | # Markus Pfaff |
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38 | # Sander Pool |
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39 | # Frederik Rouleau |
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40 | # |
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41 | #---------------------------------------------------------------------------- |
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42 | # On command line: |
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43 | # |
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44 | # make all = Make software. |
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45 | # |
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46 | # make clean = Clean out built project files. |
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47 | # |
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48 | # make coff = Convert ELF to AVR COFF. |
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49 | # |
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50 | # make extcoff = Convert ELF to AVR Extended COFF. |
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51 | # |
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52 | # make program = Download the hex file to the device, using avrdude. |
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53 | # Please customize the avrdude settings below first! |
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54 | # |
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55 | # make debug = Start either simulavr or avarice as specified for debugging, |
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56 | # with avr-gdb or avr-insight as the front end for debugging. |
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57 | # |
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58 | # make filename.s = Just compile filename.c into the assembler code only. |
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59 | # |
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60 | # make filename.i = Create a preprocessed source file for use in submitting |
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61 | # bug reports to the GCC project. |
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62 | # |
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63 | # To rebuild project do "make clean" then "make all". |
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64 | #---------------------------------------------------------------------------- |
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65 | |||
66 | #if you want your code to work on the Firefly++ and not Firefly+ |
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67 | #then add the -DFFPP line to CDEFS |
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68 | CDEFS = |
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69 | #-DFFPP |
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70 | |||
71 | # MCU name |
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72 | MCU = atmega128 |
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73 | |||
74 | # Processor frequency. |
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75 | # This will define a symbol, F_CPU, in all source code files equal to the |
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76 | # processor frequency. You can then use this symbol in your source code to |
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77 | # calculate timings. Do NOT tack on a 'UL' at the end, this will be done |
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78 | # automatically to create a 32-bit value in your source code. |
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79 | F_CPU = 8000000 |
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80 | |||
81 | # Output format. (can be srec, ihex, binary) |
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82 | FORMAT = ihex |
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83 | |||
84 | # List C source files here. (C dependencies are automatically generated.) |
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85 | SRC = $(wildcard *.c) |
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86 | |||
87 | # List Assembler source files here. |
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88 | # Make them always end in a capital .S. Files ending in a lowercase .s |
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89 | # will not be considered source files but generated files (assembler |
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90 | # output from the compiler), and will be deleted upon "make clean"! |
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91 | # Even though the DOS/Win* filesystem matches both .s and .S the same, |
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92 | # it will preserve the spelling of the filenames, and gcc itself does |
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93 | # care about how the name is spelled on its command-line. |
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94 | ASRC = |
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95 | |||
96 | # Optimization level, can be [0, 1, 2, 3, s]. |
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97 | # 0 = turn off optimization. s = optimize for size. |
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98 | # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
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99 | OPT = s |
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100 | |||
101 | # Debugging format. |
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102 | # Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
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103 | # AVR Studio 4.10 requires dwarf-2. |
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104 | # AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
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105 | DEBUG = |
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106 | |||
107 | # Compiler flag to set the C Standard level. |
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108 | # c89 = "ANSI" C |
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109 | # gnu89 = c89 plus GCC extensions |
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110 | # c99 = ISO C99 standard (not yet fully implemented) |
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111 | # gnu99 = c99 plus GCC extensions |
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112 | CSTANDARD = -std=gnu99 |
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113 | |||
114 | # Place -D or -U options here |
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115 | CDEFS += -DF_CPU=$(F_CPU)UL |
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116 | CDEFS += -DFFP |
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117 | # for wireless library |
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118 | ifdef USE_WIRELESS |
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119 | CDEFS += -DROBOT |
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120 | endif |
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121 | |||
122 | # Place -I, -L options here |
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123 | CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly |
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124 | CINCS += -L$(COLONYROOT)/code/lib/bin |
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125 | ifdef USE_WIRELESS |
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126 | CINCS += -I$(COLONYROOT)/code/lib/include/libwireless |
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127 | endif |
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128 | |||
129 | #---------------- Compiler Options ---------------- |
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130 | # -g*: generate debugging information |
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131 | # -O*: optimization level |
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132 | # -f...: tuning, see GCC manual and avr-libc documentation |
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133 | # -Wall...: warning level |
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134 | # -Wa,...: tell GCC to pass this to the assembler. |
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135 | # -adhlns...: create assembler listing |
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136 | CFLAGS = |
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137 | # CFLAGS = -g$(DEBUG) |
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138 | CFLAGS += $(CDEFS) $(CINCS) |
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139 | CFLAGS += -O$(OPT) |
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140 | CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
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141 | CFLAGS += -Wall -Wstrict-prototypes |
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142 | CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
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143 | CFLAGS += $(CSTANDARD) |
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144 | |||
145 | #---------------- Assembler Options ---------------- |
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146 | # -Wa,...: tell GCC to pass this to the assembler. |
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147 | # -ahlms: create listing |
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148 | # -gstabs: have the assembler create line number information; note that |
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149 | # for use in COFF files, additional information about filenames |
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150 | # and function names needs to be present in the assembler source |
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151 | # files -- see avr-libc docs [FIXME: not yet described there] |
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152 | ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
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153 | |||
154 | |||
155 | #---------------- Library Options ---------------- |
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156 | # Minimalistic printf version |
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157 | PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
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158 | |||
159 | # Floating point printf version (requires MATH_LIB = -lm below) |
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160 | PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
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161 | |||
162 | # If this is left blank, then it will use the Standard printf version. |
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163 | PRINTF_LIB = |
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164 | #PRINTF_LIB = $(PRINTF_LIB_MIN) |
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165 | #PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
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166 | |||
167 | |||
168 | # Minimalistic scanf version |
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169 | SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
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170 | |||
171 | # Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
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172 | SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
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173 | |||
174 | # If this is left blank, then it will use the Standard scanf version. |
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175 | SCANF_LIB = |
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176 | #SCANF_LIB = $(SCANF_LIB_MIN) |
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177 | #SCANF_LIB = $(SCANF_LIB_FLOAT) |
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178 | |||
179 | MATH_LIB = -lm |
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180 | |||
181 | #---------------- External Memory Options ---------------- |
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182 | |||
183 | # 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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184 | # used for variables (.data/.bss) and heap (malloc()). |
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185 | #EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
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186 | |||
187 | # 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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188 | # only used for heap (malloc()). |
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189 | #EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
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190 | |||
191 | EXTMEMOPTS = |
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192 | |||
193 | #---------------- Linker Options ---------------- |
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194 | # -Wl,...: tell GCC to pass this to linker. |
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195 | # -Map: create map file |
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196 | # --cref: add cross reference to map file |
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197 | LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
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198 | LDFLAGS += $(EXTMEMOPTS) |
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199 | LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
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200 | ifdef USE_WIRELESS |
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201 | LDFLAGS += -lwireless |
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202 | endif |
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203 | LDFLAGS += -ldragonfly |
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204 | |||
205 | |||
206 | |||
207 | #---------------- Programming Options (avrdude) ---------------- |
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208 | |||
209 | # Programming hardware: alf avr910 avrisp bascom bsd |
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210 | # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
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211 | # |
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212 | # Type: avrdude -c ? |
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213 | # to get a full listing. |
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214 | # |
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215 | AVRDUDE_PROGRAMMER = avrisp |
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216 | |||
217 | # programmer connected to serial device |
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218 | |||
219 | AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
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220 | #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
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221 | |||
222 | |||
223 | # Uncomment the following if you want avrdude's erase cycle counter. |
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224 | # Note that this counter needs to be initialized first using -Yn, |
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225 | # see avrdude manual. |
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226 | #AVRDUDE_ERASE_COUNTER = -y |
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227 | |||
228 | # Uncomment the following if you do /not/ wish a verification to be |
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229 | # performed after programming the device. |
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230 | #AVRDUDE_NO_VERIFY = -V |
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231 | |||
232 | # Increase verbosity level. Please use this when submitting bug |
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233 | # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
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234 | # to submit bug reports. |
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235 | #AVRDUDE_VERBOSE = -v -v |
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236 | |||
237 | AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
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238 | AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
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239 | AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
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240 | AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
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241 | |||
242 | #don't check for device signature |
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243 | AVRDUDE_FLAGS += -F |
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244 | |||
245 | |||
246 | |||
247 | #---------------- Debugging Options ---------------- |
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248 | |||
249 | # For simulavr only - target MCU frequency. |
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250 | DEBUG_MFREQ = $(F_CPU) |
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251 | |||
252 | # Set the DEBUG_UI to either gdb or insight. |
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253 | # DEBUG_UI = gdb |
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254 | DEBUG_UI = insight |
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255 | |||
256 | # Set the debugging back-end to either avarice, simulavr. |
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257 | DEBUG_BACKEND = avarice |
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258 | #DEBUG_BACKEND = simulavr |
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259 | |||
260 | # GDB Init Filename. |
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261 | GDBINIT_FILE = __avr_gdbinit |
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262 | |||
263 | # When using avarice settings for the JTAG |
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264 | JTAG_DEV = /dev/com1 |
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265 | |||
266 | # Debugging port used to communicate between GDB / avarice / simulavr. |
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267 | DEBUG_PORT = 4242 |
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268 | |||
269 | # Debugging host used to communicate between GDB / avarice / simulavr, normally |
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270 | # just set to localhost unless doing some sort of crazy debugging when |
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271 | # avarice is running on a different computer. |
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272 | DEBUG_HOST = localhost |
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273 | |||
274 | |||
275 | |||
276 | #============================================================================ |
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277 | |||
278 | |||
279 | # Define programs and commands. |
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280 | SHELL = sh |
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281 | CC = avr-gcc |
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282 | OBJCOPY = avr-objcopy |
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283 | OBJDUMP = avr-objdump |
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284 | SIZE = avr-size |
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285 | NM = avr-nm |
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286 | AVRDUDE = avrdude |
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287 | REMOVE = rm -f |
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288 | REMOVEDIR = rm -rf |
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289 | COPY = cp |
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290 | WINSHELL = cmd |
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291 | |||
292 | |||
293 | # Define Messages |
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294 | # English |
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295 | MSG_ERRORS_NONE = Errors: none |
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296 | MSG_BEGIN = -------- begin -------- |
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297 | MSG_END = -------- end -------- |
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298 | MSG_SIZE_BEFORE = Size before: |
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299 | MSG_SIZE_AFTER = Size after: |
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300 | MSG_COFF = Converting to AVR COFF: |
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301 | MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
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302 | MSG_FLASH = Creating load file for Flash: |
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303 | MSG_EEPROM = Creating load file for EEPROM: |
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304 | MSG_EXTENDED_LISTING = Creating Extended Listing: |
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305 | MSG_SYMBOL_TABLE = Creating Symbol Table: |
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306 | MSG_LINKING = Linking: |
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307 | MSG_COMPILING = Compiling: |
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308 | MSG_ASSEMBLING = Assembling: |
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309 | MSG_CLEANING = Cleaning project: |
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310 | |||
311 | |||
312 | |||
313 | |||
314 | # Define all object files. |
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315 | OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
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316 | |||
317 | # Define all listing files. |
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318 | LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
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319 | |||
320 | |||
321 | # Compiler flags to generate dependency files. |
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322 | GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
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323 | |||
324 | |||
325 | # Combine all necessary flags and optional flags. |
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326 | # Add target processor to flags. |
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327 | ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
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328 | ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
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329 | |||
330 | |||
331 | |||
332 | |||
333 | |||
334 | # Default target. |
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335 | all: begin gccversion sizebefore build sizeafter end |
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336 | |||
337 | build: elf hex eep lss sym |
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338 | |||
339 | elf: $(TARGET).elf |
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340 | hex: $(TARGET).hex |
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341 | eep: $(TARGET).eep |
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342 | lss: $(TARGET).lss |
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343 | sym: $(TARGET).sym |
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344 | |||
345 | |||
346 | |||
347 | # Eye candy. |
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348 | # AVR Studio 3.x does not check make's exit code but relies on |
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349 | # the following magic strings to be generated by the compile job. |
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350 | begin: |
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351 | @echo |
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352 | @echo $(MSG_BEGIN) |
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353 | |||
354 | end: |
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355 | @echo $(MSG_END) |
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356 | @echo |
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357 | |||
358 | |||
359 | # Display size of file. |
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360 | HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
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361 | ELFSIZE = $(SIZE) -A $(TARGET).elf |
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362 | AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
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363 | |||
364 | sizebefore: |
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365 | @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
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366 | $(AVRMEM) 2>/dev/null; echo; fi |
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367 | |||
368 | sizeafter: |
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369 | @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
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370 | $(AVRMEM) 2>/dev/null; echo; fi |
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371 | |||
372 | |||
373 | |||
374 | # Display compiler version information. |
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375 | gccversion : |
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376 | @$(CC) --version |
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377 | |||
378 | |||
379 | |||
380 | # Program the device. |
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381 | program: $(TARGET).hex $(TARGET).eep |
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382 | $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
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383 | |||
384 | |||
385 | # Generate avr-gdb config/init file which does the following: |
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386 | # define the reset signal, load the target file, connect to target, and set |
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387 | # a breakpoint at main(). |
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388 | gdb-config: |
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389 | @$(REMOVE) $(GDBINIT_FILE) |
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390 | @echo define reset >> $(GDBINIT_FILE) |
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391 | @echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
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392 | @echo end >> $(GDBINIT_FILE) |
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393 | @echo file $(TARGET).elf >> $(GDBINIT_FILE) |
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394 | @echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
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395 | ifeq ($(DEBUG_BACKEND),simulavr) |
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396 | @echo load >> $(GDBINIT_FILE) |
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397 | endif |
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398 | @echo break main >> $(GDBINIT_FILE) |
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399 | |||
400 | debug: gdb-config $(TARGET).elf |
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401 | ifeq ($(DEBUG_BACKEND), avarice) |
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402 | @echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
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403 | @$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
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404 | $(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
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405 | @$(WINSHELL) /c pause |
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406 | |||
407 | else |
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408 | @$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
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409 | $(DEBUG_MFREQ) --port $(DEBUG_PORT) |
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410 | endif |
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411 | @$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
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412 | |||
413 | |||
414 | |||
415 | |||
416 | # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
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417 | COFFCONVERT=$(OBJCOPY) --debugging \ |
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418 | --change-section-address .data-0x800000 \ |
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419 | --change-section-address .bss-0x800000 \ |
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420 | --change-section-address .noinit-0x800000 \ |
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421 | --change-section-address .eeprom-0x810000 |
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422 | |||
423 | |||
424 | coff: $(TARGET).elf |
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425 | @echo |
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426 | @echo $(MSG_COFF) $(TARGET).cof |
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427 | $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
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428 | |||
429 | |||
430 | extcoff: $(TARGET).elf |
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431 | @echo |
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432 | @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
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433 | $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
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434 | |||
435 | |||
436 | |||
437 | # Create final output files (.hex, .eep) from ELF output file. |
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438 | %.hex: %.elf |
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439 | @echo |
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440 | @echo $(MSG_FLASH) $@ |
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441 | $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
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442 | |||
443 | %.eep: %.elf |
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444 | @echo |
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445 | @echo $(MSG_EEPROM) $@ |
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446 | -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
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447 | --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
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448 | |||
449 | # Create extended listing file from ELF output file. |
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450 | %.lss: %.elf |
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451 | @echo |
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452 | @echo $(MSG_EXTENDED_LISTING) $@ |
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453 | $(OBJDUMP) -h -S $< > $@ |
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454 | |||
455 | # Create a symbol table from ELF output file. |
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456 | %.sym: %.elf |
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457 | @echo |
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458 | @echo $(MSG_SYMBOL_TABLE) $@ |
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459 | $(NM) -n $< > $@ |
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460 | |||
461 | |||
462 | |||
463 | # Link: create ELF output file from object files. |
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464 | .SECONDARY : $(TARGET).elf |
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465 | .PRECIOUS : $(OBJ) |
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466 | %.elf: $(OBJ) |
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467 | @echo |
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468 | @echo $(MSG_LINKING) $@ |
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469 | $(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
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470 | |||
471 | |||
472 | # Compile: create object files from C source files. |
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473 | %.o : %.c |
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474 | @echo |
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475 | @echo $(MSG_COMPILING) $< |
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476 | $(CC) -c $(ALL_CFLAGS) $< -o $@ |
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477 | |||
478 | |||
479 | # Compile: create assembler files from C source files. |
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480 | %.s : %.c |
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481 | $(CC) -S $(ALL_CFLAGS) $< -o $@ |
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482 | |||
483 | |||
484 | # Assemble: create object files from assembler source files. |
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485 | %.o : %.S |
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486 | @echo |
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487 | @echo $(MSG_ASSEMBLING) $< |
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488 | $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
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489 | |||
490 | # Create preprocessed source for use in sending a bug report. |
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491 | %.i : %.c |
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492 | $(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
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493 | |||
494 | |||
495 | # Target: clean project. |
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496 | clean: begin clean_list end |
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497 | |||
498 | clean_list : |
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499 | @echo |
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500 | @echo $(MSG_CLEANING) |
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501 | $(REMOVE) $(TARGET).hex |
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502 | $(REMOVE) $(TARGET).eep |
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503 | $(REMOVE) $(TARGET).cof |
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504 | $(REMOVE) $(TARGET).elf |
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505 | $(REMOVE) $(TARGET).map |
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506 | $(REMOVE) $(TARGET).sym |
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507 | $(REMOVE) $(TARGET).lss |
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508 | $(REMOVE) $(OBJ) |
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509 | $(REMOVE) $(LST) |
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510 | $(REMOVE) $(SRC:.c=.s) |
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511 | $(REMOVE) $(SRC:.c=.d) |
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512 | $(REMOVEDIR) .dep |
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513 | |||
514 | |||
515 | |||
516 | # Include the dependency files. |
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517 | -include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
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518 | |||
519 | |||
520 | # Listing of phony targets. |
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521 | .PHONY : all begin finish end sizebefore sizeafter gccversion \ |
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522 | build elf hex eep lss sym coff extcoff \ |
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523 | clean clean_list program debug gdb-config |