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########Update This Section######## |
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# |
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# |
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|
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# Relative path to the root directory (containing lib directory) |
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ifndef COLONYROOT |
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COLONYROOT = ../../.. |
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endif |
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|
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# Target file name (without extension). |
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TARGET = robot_main |
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|
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# Uncomment this to use the wireless library |
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USE_WIRELESS = 1 |
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|
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# com1 = serial port. Use lpt1 to connect to parallel port. |
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AVRDUDE_PORT = com4 |
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|
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robot: all |
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TARGET = robot_main |
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|
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# |
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# |
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################################### |
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|
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# Hey Emacs, this is a -*- makefile -*- |
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#---------------------------------------------------------------------------- |
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# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
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# |
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# Released to the Public Domain |
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# |
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# Additional material for this makefile was written by: |
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# Peter Fleury |
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# Tim Henigan |
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# Colin O'Flynn |
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# Reiner Patommel |
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# Markus Pfaff |
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# Sander Pool |
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# Frederik Rouleau |
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# |
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#---------------------------------------------------------------------------- |
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# On command line: |
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# |
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# make all = Make software. |
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# |
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# make clean = Clean out built project files. |
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# |
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# make coff = Convert ELF to AVR COFF. |
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# |
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# make extcoff = Convert ELF to AVR Extended COFF. |
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# |
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# make program = Download the hex file to the device, using avrdude. |
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# Please customize the avrdude settings below first! |
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# |
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# make debug = Start either simulavr or avarice as specified for debugging, |
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# with avr-gdb or avr-insight as the front end for debugging. |
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# |
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# make filename.s = Just compile filename.c into the assembler code only. |
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# |
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# make filename.i = Create a preprocessed source file for use in submitting |
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# bug reports to the GCC project. |
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# |
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# To rebuild project do "make clean" then "make all". |
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#---------------------------------------------------------------------------- |
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|
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#if you want your code to work on the Firefly++ and not Firefly+ |
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#then add the -DFFPP line to CDEFS |
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CDEFS = |
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#-DFFPP |
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|
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# MCU name |
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MCU = atmega128 |
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|
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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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|
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# Output format. (can be srec, ihex, binary) |
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FORMAT = ihex |
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|
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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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|
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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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|
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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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|
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# Debugging format. |
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# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
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# AVR Studio 4.10 requires dwarf-2. |
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# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
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DEBUG = |
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|
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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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|
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# Place -D or -U options here |
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CDEFS += -DF_CPU=$(F_CPU)UL |
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CDEFS += -DFFP |
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# for wireless library |
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ifdef USE_WIRELESS |
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CDEFS += -DROBOT |
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endif |
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|
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# Place -I, -L options here |
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CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly |
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CINCS += -L$(COLONYROOT)/code/lib/bin |
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ifdef USE_WIRELESS |
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CINCS += -I$(COLONYROOT)/code/lib/include/libwireless |
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endif |
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|
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#---------------- Compiler Options ---------------- |
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# -g*: generate debugging information |
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# -O*: optimization level |
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# -f...: tuning, see GCC manual and avr-libc documentation |
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# -Wall...: warning level |
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# -Wa,...: tell GCC to pass this to the assembler. |
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# -adhlns...: create assembler listing |
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CFLAGS = |
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# CFLAGS = -g$(DEBUG) |
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CFLAGS += $(CDEFS) $(CINCS) |
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CFLAGS += -O$(OPT) |
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CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
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CFLAGS += -Wall -Wstrict-prototypes |
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CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
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CFLAGS += $(CSTANDARD) |
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|
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#---------------- Assembler Options ---------------- |
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# -Wa,...: tell GCC to pass this to the assembler. |
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# -ahlms: create listing |
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# -gstabs: have the assembler create line number information; note that |
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# for use in COFF files, additional information about filenames |
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# and function names needs to be present in the assembler source |
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# files -- see avr-libc docs [FIXME: not yet described there] |
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ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
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|
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|
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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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|
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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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|
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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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|
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|
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# Minimalistic scanf version |
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SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
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|
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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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|
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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 = $(SCANF_LIB_FLOAT) |
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|
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MATH_LIB = -lm |
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|
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#---------------- External Memory Options ---------------- |
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|
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# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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# used for variables (.data/.bss) and heap (malloc()). |
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#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
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|
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# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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# only used for heap (malloc()). |
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#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
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|
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EXTMEMOPTS = |
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|
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#---------------- Linker Options ---------------- |
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# -Wl,...: tell GCC to pass this to linker. |
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# -Map: create map file |
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# --cref: add cross reference to map file |
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LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
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LDFLAGS += $(EXTMEMOPTS) |
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LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
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ifdef USE_WIRELESS |
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LDFLAGS += -lwireless |
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endif |
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LDFLAGS += -ldragonfly |
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|
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|
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|
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#---------------- Programming Options (avrdude) ---------------- |
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|
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# Programming hardware: alf avr910 avrisp bascom bsd |
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# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
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# |
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# Type: avrdude -c ? |
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# to get a full listing. |
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# |
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AVRDUDE_PROGRAMMER = avrisp |
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|
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# programmer connected to serial device |
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|
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AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
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#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
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|
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|
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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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|
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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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|
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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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|
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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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|
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#don't check for device signature |
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AVRDUDE_FLAGS += -F |
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|
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|
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|
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#---------------- Debugging Options ---------------- |
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|
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# For simulavr only - target MCU frequency. |
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DEBUG_MFREQ = $(F_CPU) |
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|
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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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|
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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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|
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# GDB Init Filename. |
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GDBINIT_FILE = __avr_gdbinit |
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|
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# When using avarice settings for the JTAG |
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JTAG_DEV = /dev/com1 |
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|
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# Debugging port used to communicate between GDB / avarice / simulavr. |
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DEBUG_PORT = 4242 |
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|
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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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|
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|
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#============================================================================ |
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|
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|
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# Define programs and commands. |
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SHELL = sh |
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CC = avr-gcc |
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OBJCOPY = avr-objcopy |
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OBJDUMP = avr-objdump |
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SIZE = avr-size |
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NM = avr-nm |
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AVRDUDE = avrdude |
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REMOVE = rm -f |
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REMOVEDIR = rm -rf |
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COPY = cp |
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WINSHELL = cmd |
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|
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|
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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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|
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|
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|
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|
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# Define all object files. |
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OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
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|
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# Define all listing files. |
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LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
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|
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|
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# Compiler flags to generate dependency files. |
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GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
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|
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|
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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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|
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|
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|
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|
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|
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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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|
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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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|
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|
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|
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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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|
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end: |
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@echo $(MSG_END) |
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@echo |
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|
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|
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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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|
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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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|
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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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|
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|
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|
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# Display compiler version information. |
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gccversion : |
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@$(CC) --version |
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|
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|
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|
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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) $(AVRDUDE_WRITE_EEPROM) |
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|
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|
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# Generate avr-gdb config/init file which does the following: |
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# define the reset signal, load the target file, connect to target, and set |
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# a breakpoint at main(). |
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gdb-config: |
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@$(REMOVE) $(GDBINIT_FILE) |
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@echo define reset >> $(GDBINIT_FILE) |
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@echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
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@echo end >> $(GDBINIT_FILE) |
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@echo file $(TARGET).elf >> $(GDBINIT_FILE) |
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@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
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ifeq ($(DEBUG_BACKEND),simulavr) |
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@echo load >> $(GDBINIT_FILE) |
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endif |
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@echo break main >> $(GDBINIT_FILE) |
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|
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debug: gdb-config $(TARGET).elf |
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ifeq ($(DEBUG_BACKEND), avarice) |
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@echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
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@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
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$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
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@$(WINSHELL) /c pause |
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|
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else |
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@$(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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|
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|
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|
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|
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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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|
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|
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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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|
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|
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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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|
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|
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|
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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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|
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%.eep: %.elf |
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@echo |
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@echo $(MSG_EEPROM) $@ |
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-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
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--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
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|
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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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|
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# Create a symbol table from ELF output file. |
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%.sym: %.elf |
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@echo |
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@echo $(MSG_SYMBOL_TABLE) $@ |
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$(NM) -n $< > $@ |
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|
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|
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|
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# Link: create ELF output file from object files. |
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.SECONDARY : $(TARGET).elf |
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.PRECIOUS : $(OBJ) |
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%.elf: $(OBJ) |
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@echo |
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@echo $(MSG_LINKING) $@ |
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$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
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|
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|
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# Compile: create object files from C source files. |
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%.o : %.c |
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@echo |
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@echo $(MSG_COMPILING) $< |
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$(CC) -c $(ALL_CFLAGS) $< -o $@ |
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|
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|
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# Compile: create assembler files from C source files. |
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%.s : %.c |
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$(CC) -S $(ALL_CFLAGS) $< -o $@ |
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|
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|
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# Assemble: create object files from assembler source files. |
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%.o : %.S |
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@echo |
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@echo $(MSG_ASSEMBLING) $< |
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$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
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|
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# Create preprocessed source for use in sending a bug report. |
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%.i : %.c |
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$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
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|
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|
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# Target: clean project. |
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clean: begin clean_list end |
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|
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clean_list : |
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@echo |
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@echo $(MSG_CLEANING) |
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$(REMOVE) $(TARGET).hex |
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$(REMOVE) $(TARGET).eep |
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$(REMOVE) $(TARGET).cof |
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$(REMOVE) $(TARGET).elf |
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$(REMOVE) $(TARGET).map |
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$(REMOVE) $(TARGET).sym |
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$(REMOVE) $(TARGET).lss |
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$(REMOVE) $(OBJ) |
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$(REMOVE) $(LST) |
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$(REMOVE) $(SRC:.c=.s) |
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$(REMOVE) $(SRC:.c=.d) |
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$(REMOVEDIR) .dep |
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|
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|
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|
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# Include the dependency files. |
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-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
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|
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|
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# Listing of phony targets. |
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.PHONY : all begin finish end sizebefore sizeafter gccversion \ |
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build elf hex eep lss sym coff extcoff \ |
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clean clean_list program debug gdb-config |
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|