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Revision 953

Added some test code for the receive function - does not work as
I can't get the token ring to start up. receive.c needs to be on
a matlab computer to be compiled and run correctly (mex receive.c -lpthread)

View differences:

trunk/code/projects/mapping/matlab/receive.c
55 55
		receive_initialized = 1;
56 56
	}
57 57
	
58
	while(1){}
58 59
	
59 60
	/*Return stuff to matlab
60 61
	//deliberately ignore nrhs.	
......
139 140
		while(wl_token_iterator_has_next()){
140 141
			robot_num = wl_token_iterator_next();
141 142
    		
142
			wl_send_robot_to_robot_global_packet(MAP_REQUEST_GROUP, 0,
143
            	NULL, 0, robot_num, 0);
143
			wl_send_robot_to_robot_global_packet(MAP_REQUEST_GROUP, 
144
				POINT_ODO, NULL, 0, robot_num, 0);
145
            	
144 146

  
145 147
		}
146 148
		
trunk/code/projects/mapping/matlab/testRobot/test.c
1
#include <dragonfly_lib.h>
2
#include <wireless.h>
3
#include <encoders.h>
4

  
5
#define MAP_RECEIVE_GROUP 1
6
#define MAP_REQUEST_GROUP 2
7

  
8
#define POINT_RAW 1 // packet type for map data points w/ raw encoder data
9
#define POINT_ODO 2 // packet type for map data points w/ odometry data
10

  
11
#define WL_CNTL_GROUP 4
12

  
13
int state;
14
int velocity;
15
char buf[100];
16

  
17
void respond(char type, int source, unsigned char* packet, int length);
18

  
19
PacketGroupHandler receiveHandler = {MAP_REQUEST_GROUP, 
20
	NULL, NULL, NULL, NULL};
21

  
22
PacketGroupHandler requestHandler = {MAP_RECEIVE_GROUP, 
23
	NULL, NULL, respond, NULL};
24

  
25
int main(void)
26
{
27
    /* initialize components and join the token ring */
28
    dragonfly_init(ALL_ON);
29
    odometry_init();
30
    
31
	wl_init();
32
    wl_set_channel(0xE);
33
    wl_register_packet_group(&receiveHandler);
34
    wl_register_packet_group(&requestHandler);
35
    
36
    wl_token_ring_register();
37
    wl_token_ring_join();
38

  
39
    char *send;   // for transmission
40

  
41
    while(1)
42
    {
43
		wl_do();
44
    }
45

  
46
    wl_terminate();
47
    return 0;
48
}
49

  
50
void respond(char type, int source, unsigned char* packet, int length) {
51
    sprintf(buf, "received packet: %d\n", type);
52
    usb_puts(buf);
53
	
54
	int store[9];
55
	store[0] = 0;
56
    store[1] = 0;
57
    *((double*)(store + 2)) = 5.0;
58
    store[4] = 125;	// IR1 range
59
	store[5] = 125;	// IR2 range
60
	store[6] = 125;	// IR3 range
61
	store[7] = 125;	// IR4 range
62
	store[8] = 125;	// IR5 range
63

  
64
	wl_send_robot_to_robot_global_packet(MAP_RECEIVE_GROUP, 
65
		POINT_ODO, &store, 0, source, 0);
66
    
67
}
trunk/code/projects/mapping/matlab/testRobot/odometry.c
1
#include "odometry.h"
2
#include <encoders.h>
3
#include <move.h>
4
#include <math.h>
5
#include <avr/interrupt.h>
6
#include <dragonfly_lib.h>
7

  
8
long lround(double d);
9

  
10
char control_velocity = 0;
11
int encoder_ltm1, encoder_rtm1, move_speed, move_angle;
12

  
13
//Measure mm displacement in x and y from starting position. (+x:theta=0 +y:theta=M_PI/2)
14
long diff_x,diff_y, velocity, target_velocity, target_angular_velocity;
15

  
16
//Measures radian angle displacement from starting position. (initially 0)
17
double angle;
18

  
19
/**
20
 * Retrieve the estimated x position. [mm]
21
 */
22
long odometry_dx(void){
23
	return diff_x;
24
}
25

  
26
/**
27
 * Retrieve the estimated y position. [mm]
28
 */
29
long odometry_dy(void){
30
	return diff_y;
31
}
32

  
33
/**
34
 * Retrieve the estimated angle [radians]
35
 */
36
double odometry_angle(void){
37
	return angle;
38
}
39
/**
40
 * Retrieve the estimated velocity [mm / s]
41
 */
42
long odometry_velocity(void){
43
	return velocity;
44
}
45

  
46
void odometry_set_velocity(long t_velocity, double t_angular_velocity, int start_speed, int start_angle){
47
	target_velocity = t_velocity;	
48
	target_angular_velocity = t_angular_velocity;
49
	move_angle = start_angle;
50
	move_speed = start_speed;
51
	control_velocity = 1;
52
}
53

  
54
/**
55
 * Initializes odometry to run on timer 2.
56
 * Also resets all values so that the center of the robot is 
57
 * considered to be at the origin facing the x direction.
58
 */
59
void odometry_init(void){
60
	
61
	encoders_init();
62
	
63
	delay_ms(100);
64

  
65
	odometry_reset();
66

  
67
	
68
	//CTC Mode. CLK / 1024
69
	TCCR2 = 0; // (Fully disconnected)
70
	TCCR2 = _BV(WGM21) | _BV(CS22) | _BV(CS20); //CLK/1024 , CTC Mode.
71

  
72
	TIMSK |= _BV(OCIE2);
73

  
74
	OCR2 = ODOMETRY_CLK;
75
}
76
/**
77
 * Resets all values so that the center of the robot is 
78
 * considered to be at the origin facing the x direction.
79
 */
80
void odometry_reset(void){
81
	diff_x = 0;
82
	diff_y = 0;
83
	encoder_ltm1 = encoder_read(LEFT);
84
	encoder_rtm1 = encoder_read(RIGHT);
85
	angle = 0.0;
86
}
87

  
88

  
89
void odometry_run(void){
90
	//Angle swept through in a time step CCW-
91
	double theta, rl, dc;
92
	long dr,dl;
93
	char buf[100];
94
	
95
	//Get the change in wheel positions
96
	{	
97
		int encoder_right = encoder_read(RIGHT);	
98
		int encoder_left = encoder_read(LEFT);	
99
	
100
		dl = encoder_left - encoder_ltm1;
101
		dr = encoder_right - encoder_rtm1;
102
		
103
		//No motion.
104
		if(dl == 0 && dr == 0){ 
105
			if(control_velocity) modify_velocity();
106
			return;
107
		}
108

  
109
		encoder_ltm1 = encoder_left;
110
		encoder_rtm1 = encoder_right;
111
	
112
		// Try to avoid over/underflow.
113
		dl = dl > 512 ? dl - 1024 :dl;
114
		dl = dl < -512 ? dl + 1024 :dl;
115
		dr = dr > 512 ? dr - 1024 :dr;
116
		dr = dr < -512 ? dr + 1024 :dr;
117
	
118
		//Convert "clicks" to um
119
		dl *= CLICK_DISTANCE_UM; //um
120
		dr *= CLICK_DISTANCE_UM;
121
	}
122
	
123

  
124
	if(dl == dr){
125
		diff_x += lround(dl*cos(angle)/1000.0); //mm
126
		diff_y += lround(dl*sin(angle)/1000.0); //mm
127
		velocity = lround((dl * 1000.0)/(ODOMETRY_CLK*TIME_SCALE)); //um / ms = mm/s
128
		if(control_velocity) modify_velocity();
129
		return;
130
	}
131
	
132
	//Call the left wheel 0, clockwise positive.
133
	rl = ((double)(ROBOT_WIDTH_UM*dl))/((double)(dl - dr)); //um
134
	theta = ((double)(dl - dr))/((double)ROBOT_WIDTH_UM);   //rad
135
	
136
	//Distance the center has traveled.
137
	dc = (theta * (rl - ROBOT_WIDTH_UM)) / 2.0; //um
138
	velocity = lround( dc * 1000 /(ODOMETRY_CLK*TIME_SCALE));
139
	
140
	//angle is necessarily CCW+, so subtract.
141
	angle -= ANGLE_SCALE * theta; 
142
	
143
	//Change state variables. Probably lose all measurements less then a mm.
144
	diff_x += lround((DISTANCE_SCALE * dc * cos(angle))/1000.0); //mm
145
	diff_y += lround((DISTANCE_SCALE * dc * sin(angle))/1000.0); //mm
146

  
147
	if(control_velocity) modify_velocity();
148
}
149

  
150
void modify_velocity(){
151
	int diff = target_velocity - velocity;
152
	if(diff > 0){
153
		move_speed++;
154
		move(move_speed,move_angle);
155
	}
156
	else if(diff < 0){
157
		move_speed--;
158
		move(move_speed,move_angle);
159
	}
160
}
161

  
162
ISR(TIMER2_COMP_vect){
163
	odometry_run(); 
164
}
165

  
166
long lround(double d){
167
	double f = floor(d);
168
	return (long)(d - f > 0.5 ? f + 1 : f);
169
}
170

  
171

  
trunk/code/projects/mapping/matlab/testRobot/odometry.h
1

  
2
/**
3
 * @file odometry.h
4
 * @brief Code for estimating the robots pose.
5
 * 
6
 * Offers simple position and orientation information.
7
 *
8
 * @author Colony Project, CMU Robotics Club
9
 **/
10

  
11
#ifndef __ODOMETRY_C__
12
#define __ODOMETRY_C__
13

  
14
/**
15
 * @addtogroup odometry 
16
 * @{
17
 **/
18

  
19
//Odometry resolution, *64 microseconds.
20
#define ODOMETRY_CLK 255u 
21
#define TIME_SCALE 64
22

  
23
//Wheel = 2.613 in.  
24
//Circumference = 208.508133 mm
25
//Distance per encoder click (circumference / 1024)  = 203.621224 um.
26
//Robot width = 5.3745 in. = 136.5123 mm
27

  
28
#define ROBOT_WIDTH_UM 137000  //um
29
#define CLICK_DISTANCE_UM 204 //um
30

  
31
#define DISTANCE_SCALE 2.10526316 //Magic constant.
32
#define ANGLE_SCALE 1.12823207 //Magic constant.
33

  
34
/** @brief Retrieve the robots estimated x position*/
35
long odometry_dx(void);
36

  
37
/** @brief Retrieve the robots estimated y position*/
38
long odometry_dy(void);
39

  
40
/** @brief Retrieve the robots estimated orientation*/
41
double odometry_angle(void);
42

  
43
/** @brief Initialize odometry. MUST be called before 
44
 * the other functions work.**/
45
void odometry_init(void);
46

  
47
/** @brief Reset position and orientation to the origin facing
48
 * the x axis.*/
49
void odometry_reset(void);
50

  
51
/** @brief Report estimated velocity [mm/s].*/
52
long odometry_velocity(void);
53

  
54
void odometry_set_velocity(long velocity, double angular_velocity, 
55
	int start_speed, int start_angle);
56

  
57
/**@}**/ //end group
58

  
59
#endif
trunk/code/projects/mapping/matlab/testRobot/Makefile
1
########Update This Section########
2
#
3
#
4

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

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

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

  
16
# com1 = serial port. Use lpt1 to connect to parallel port.
17
AVRDUDE_PORT = /dev/ttyUSB0
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
123
endif
124

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

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

  
150

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

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

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

  
163

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

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

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

  
175
MATH_LIB = -lm
176

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

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

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

  
187
EXTMEMOPTS =
188

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

  
201

  
202

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

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

  
213
# programmer connected to serial device
214

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

  
218

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

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

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

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

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

  
241

  
242

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

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

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

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

  
256
# GDB Init Filename.
257
GDBINIT_FILE = __avr_gdbinit
258

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

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

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

  
270

  
271

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

  
274

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

  
288

  
289
# Define Messages
290
# English
291
MSG_ERRORS_NONE = Errors: none
292
MSG_BEGIN = -------- begin --------
293
MSG_END = --------  end  --------
294
MSG_SIZE_BEFORE = Size before: 
295
MSG_SIZE_AFTER = Size after:
296
MSG_COFF = Converting to AVR COFF:
297
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
298
MSG_FLASH = Creating load file for Flash:
299
MSG_EEPROM = Creating load file for EEPROM:
300
MSG_EXTENDED_LISTING = Creating Extended Listing:
301
MSG_SYMBOL_TABLE = Creating Symbol Table:
302
MSG_LINKING = Linking:
303
MSG_COMPILING = Compiling:
304
MSG_ASSEMBLING = Assembling:
305
MSG_CLEANING = Cleaning project:
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307

  
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309

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

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

  
316

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

  
320

  
321
# Combine all necessary flags and optional flags.
322
# Add target processor to flags.
323
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
324
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
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327

  
328

  
329

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

  
333
build: elf hex eep lss sym
334

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

  
341

  
342

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

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

  
354

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

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

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

  
368

  
369

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

  
374

  
375

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

  
380

  
381
# Generate avr-gdb config/init file which does the following:
382
#     define the reset signal, load the target file, connect to target, and set 
383
#     a breakpoint at main().
384
gdb-config: 
385
	@$(REMOVE) $(GDBINIT_FILE)
386
	@echo define reset >> $(GDBINIT_FILE)
387
	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
388
	@echo end >> $(GDBINIT_FILE)
389
	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
390
	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
391
ifeq ($(DEBUG_BACKEND),simulavr)
392
	@echo load  >> $(GDBINIT_FILE)
393
endif	
394
	@echo break main >> $(GDBINIT_FILE)
395
	
396
debug: gdb-config $(TARGET).elf
397
ifeq ($(DEBUG_BACKEND), avarice)
398
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
399
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
400
	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
401
	@$(WINSHELL) /c pause
402
	
403
else
404
	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
405
	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
406
endif
407
	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
408
	
409

  
410

  
411

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

  
419

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

  
425

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

  
431

  
432

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

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

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

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

  
457

  
458

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

  
467

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

  
474

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

  
479

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

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

  
490

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

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

  
510

  
511

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

  
515

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

  

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