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1 ingob 1
#--------------------------------------------------------------------
2
# MCU name
821 killagreg 3
#MCU = atmega644
4
MCU = atmega644p
1 ingob 5
F_CPU = 20000000
6
#-------------------------------------------------------------------
735 killagreg 7
VERSION_MAJOR    =   0
8
VERSION_MINOR    =  68
623 hbuss 9
VERSION_INDEX    =   3
297 holgerb 10
 
735 killagreg 11
VERSION_COMPATIBLE = 7  # PC-Kompatibilität
1 ingob 12
#-------------------------------------------------------------------
754 killagreg 13
#OPTIONS
898 pangu 14
#COMPASS = _MM3
15
#COMPASS = _CMPS03
781 killagreg 16
#EXT = WALTER
754 killagreg 17
#-------------------------------------------------------------------
1 ingob 18
 
19
ifeq ($(MCU), atmega644)
20
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
21
#FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
22
# -u  bei neuen Controllern wieder einspielen
898 pangu 23
 HEX_NAME = MEGA644$(COMPASS)
595 hbuss 24
endif
1 ingob 25
 
595 hbuss 26
ifeq ($(MCU), atmega644p)
27
 FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
898 pangu 28
 HEX_NAME = MEGA644p$(COMPASS)
1 ingob 29
endif
30
 
595 hbuss 31
 
1 ingob 32
ifeq ($(F_CPU), 16000000)
33
 QUARZ = 16MHZ
34
endif
35
 
36
ifeq ($(F_CPU), 20000000)
37
 QUARZ = 20MHZ
38
endif
39
 
754 killagreg 40
ifeq ($(COMPASS), MM3)
41
 CFLAGS += -DUSE_MM3
42
endif
1 ingob 43
 
754 killagreg 44
ifeq ($(COMPASS), CMPS03)
45
 CFLAGS += -DUSE_CMPS03
46
endif
47
 
1 ingob 48
# Output format. (can be srec, ihex, binary)
49
FORMAT = ihex
50
 
51
# Target file name (without extension).
52
 
297 holgerb 53
ifeq ($(VERSION_INDEX), 0)
899 pangu 54
TARGET = Flight-Ctrl-Hexa_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a
297 holgerb 55
endif
56
ifeq ($(VERSION_INDEX), 1)
899 pangu 57
TARGET = Flight-Ctrl_Hexa_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b
297 holgerb 58
endif
59
ifeq ($(VERSION_INDEX), 2)
899 pangu 60
TARGET = Flight-Ctrl_Hexa_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c
297 holgerb 61
endif
62
ifeq ($(VERSION_INDEX), 3)
899 pangu 63
TARGET = Flight-Ctrl_Hexa_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d
297 holgerb 64
endif
65
ifeq ($(VERSION_INDEX), 4)
899 pangu 66
TARGET = Flight-Ctrl_Hexa_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e
297 holgerb 67
endif
68
ifeq ($(VERSION_INDEX), 5)
899 pangu 69
TARGET = Flight-Ctrl_Hexa_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f
297 holgerb 70
endif
469 hbuss 71
ifeq ($(VERSION_INDEX), 6)
899 pangu 72
TARGET = Flight-Ctrl_Hexa_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g
469 hbuss 73
endif
492 hbuss 74
ifeq ($(VERSION_INDEX), 7)
899 pangu 75
TARGET = Flight-Ctrl_Hexa_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h
469 hbuss 76
endif
1 ingob 77
 
78
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
79
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
80
OPT = s
81
 
82
##########################################################################################################
83
# List C source files here. (C dependencies are automatically generated.)
762 killagreg 84
SRC = main.c uart.c printf_P.c timer0.c timer2.c analog.c menu.c led.c
756 killagreg 85
SRC += twimaster.c rc.c fc.c GPS.c spi.c eeprom.c mymath.c ubx.c fifo.c
86
ifeq ($(MCU), atmega644p)
87
SRC += uart1.c
88
endif
754 killagreg 89
ifeq ($(COMPASS), MM3)
756 killagreg 90
SRC += mm3.c
754 killagreg 91
endif
92
ifeq ($(COMPASS), CMPS03)
756 killagreg 93
SRC += cmps03.c
754 killagreg 94
endif
1 ingob 95
##########################################################################################################
96
 
97
 
98
# List Assembler source files here.
99
# Make them always end in a capital .S.  Files ending in a lowercase .s
100
# will not be considered source files but generated files (assembler
101
# output from the compiler), and will be deleted upon "make clean"!
102
# Even though the DOS/Win* filesystem matches both .s and .S the same,
103
# it will preserve the spelling of the filenames, and gcc itself does
104
# care about how the name is spelled on its command-line.
105
ASRC =
106
 
107
 
108
 
109
# List any extra directories to look for include files here.
110
#     Each directory must be seperated by a space.
111
EXTRAINCDIRS =
112
 
113
 
114
# Optional compiler flags.
115
#  -g:        generate debugging information (for GDB, or for COFF conversion)
116
#  -O*:       optimization level
117
#  -f...:     tuning, see gcc manual and avr-libc documentation
118
#  -Wall...:  warning level
119
#  -Wa,...:   tell GCC to pass this to the assembler.
120
#    -ahlms:  create assembler listing
121
CFLAGS = -O$(OPT) \
122
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
123
-Wall -Wstrict-prototypes \
124
-Wa,-adhlns=$(<:.c=.lst) \
125
$(patsubst %,-I%,$(EXTRAINCDIRS))
126
 
127
 
128
# Set a "language standard" compiler flag.
129
#   Unremark just one line below to set the language standard to use.
130
#   gnu99 = C99 + GNU extensions. See GCC manual for more information.
131
#CFLAGS += -std=c89
132
#CFLAGS += -std=gnu89
133
#CFLAGS += -std=c99
134
CFLAGS += -std=gnu99
135
 
735 killagreg 136
CFLAGS += -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_COMPATIBLE=$(VERSION_COMPATIBLE) -DVERSION_INDEX=$(VERSION_INDEX)
1 ingob 137
 
754 killagreg 138
ifeq ($(COMPASS), MM3)
139
 CFLAGS += -DUSE_MM3
140
endif
141
ifeq ($(COMPASS), CMPS03)
142
 CFLAGS += -DUSE_CMPS03
143
endif
781 killagreg 144
ifeq ($(EXT), WALTER)
145
 CFLAGS += -DUSE_WALTER_EXT
146
endif
1 ingob 147
 
754 killagreg 148
 
149
 
781 killagreg 150
 
1 ingob 151
# Optional assembler flags.
152
#  -Wa,...:   tell GCC to pass this to the assembler.
153
#  -ahlms:    create listing
154
#  -gstabs:   have the assembler create line number information; note that
155
#             for use in COFF files, additional information about filenames
156
#             and function names needs to be present in the assembler source
157
#             files -- see avr-libc docs [FIXME: not yet described there]
158
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
159
 
160
 
161
 
162
# Optional linker flags.
163
#  -Wl,...:   tell GCC to pass this to linker.
164
#  -Map:      create map file
165
#  --cref:    add cross reference to  map file
166
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
167
 
168
# Additional libraries
169
 
170
# Minimalistic printf version
171
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
172
 
173
# Floating point printf version (requires -lm below)
174
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
175
 
176
# -lm = math library
177
LDFLAGS += -lm
178
 
179
 
180
##LDFLAGS += -T./linkerfile/avr5.x
181
 
182
 
183
 
184
# Programming support using avrdude. Settings and variables.
185
 
186
# Programming hardware: alf avr910 avrisp bascom bsd
187
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
188
#
189
# Type: avrdude -c ?
190
# to get a full listing.
191
#
595 hbuss 192
#AVRDUDE_PROGRAMMER = dt006
1 ingob 193
#AVRDUDE_PROGRAMMER = stk200
194
#AVRDUDE_PROGRAMMER = ponyser
595 hbuss 195
AVRDUDE_PROGRAMMER = avrispv2
1 ingob 196
#falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden
197
 
595 hbuss 198
#AVRDUDE_PORT = com1    # programmer connected to serial device
199
#AVRDUDE_PORT = lpt1    # programmer connected to parallel port
200
AVRDUDE_PORT = usb # programmer connected to USB
1 ingob 201
 
202
#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
203
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS)
204
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
205
 
595 hbuss 206
#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex
1 ingob 207
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
208
 
209
# Uncomment the following if you want avrdude's erase cycle counter.
210
# Note that this counter needs to be initialized first using -Yn,
211
# see avrdude manual.
212
#AVRDUDE_ERASE += -y
213
 
214
# Uncomment the following if you do /not/ wish a verification to be
215
# performed after programming the device.
216
AVRDUDE_FLAGS += -V
217
 
218
# Increase verbosity level.  Please use this when submitting bug
219
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
220
# to submit bug reports.
221
#AVRDUDE_FLAGS += -v -v
222
 
223
# ---------------------------------------------------------------------------
224
# Define directories, if needed.
225
DIRAVR = c:/winavr
226
DIRAVRBIN = $(DIRAVR)/bin
227
DIRAVRUTILS = $(DIRAVR)/utils/bin
228
DIRINC = .
229
DIRLIB = $(DIRAVR)/avr/lib
230
 
231
 
232
# Define programs and commands.
233
SHELL = sh
234
 
235
CC = avr-gcc
236
 
237
OBJCOPY = avr-objcopy
238
OBJDUMP = avr-objdump
239
SIZE = avr-size
240
 
241
# Programming support using avrdude.
242
AVRDUDE = avrdude
243
 
244
REMOVE = rm -f
245
COPY = cp
246
 
247
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
248
ELFSIZE = $(SIZE) -A $(TARGET).elf
249
 
250
# Define Messages
251
# English
252
MSG_ERRORS_NONE = Errors: none
253
MSG_BEGIN = -------- begin --------
254
MSG_END = --------  end  --------
255
MSG_SIZE_BEFORE = Size before:
256
MSG_SIZE_AFTER = Size after:
257
MSG_COFF = Converting to AVR COFF:
258
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
259
MSG_FLASH = Creating load file for Flash:
260
MSG_EEPROM = Creating load file for EEPROM:
261
MSG_EXTENDED_LISTING = Creating Extended Listing:
262
MSG_SYMBOL_TABLE = Creating Symbol Table:
263
MSG_LINKING = Linking:
264
MSG_COMPILING = Compiling:
265
MSG_ASSEMBLING = Assembling:
266
MSG_CLEANING = Cleaning project:
267
 
268
 
269
# Define all object files.
270
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
271
 
272
# Define all listing files.
273
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
274
 
275
# Combine all necessary flags and optional flags.
276
# Add target processor to flags.
277
#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)
278
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
279
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
280
 
281
 
282
# Default target.
283
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
284
	$(TARGET).lss $(TARGET).sym sizeafter finished end
285
 
286
 
287
# Eye candy.
288
# AVR Studio 3.x does not check make's exit code but relies on
289
# the following magic strings to be generated by the compile job.
290
begin:
291
	@echo
292
	@echo $(MSG_BEGIN)
293
 
294
finished:
295
	@echo $(MSG_ERRORS_NONE)
296
 
297
end:
298
	@echo $(MSG_END)
299
	@echo
300
 
301
 
302
# Display size of file.
303
sizebefore:
304
	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
305
 
306
sizeafter:
307
	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
308
 
309
 
310
 
311
# Display compiler version information.
312
gccversion :
313
	@$(CC) --version
314
 
315
 
316
# Convert ELF to COFF for use in debugging / simulating in
317
# AVR Studio or VMLAB.
318
COFFCONVERT=$(OBJCOPY) --debugging \
319
	--change-section-address .data-0x800000 \
320
	--change-section-address .bss-0x800000 \
321
	--change-section-address .noinit-0x800000 \
322
	--change-section-address .eeprom-0x810000
323
 
324
 
325
coff: $(TARGET).elf
326
	@echo
327
	@echo $(MSG_COFF) $(TARGET).cof
328
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
329
 
330
 
331
extcoff: $(TARGET).elf
332
	@echo
333
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
334
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
335
 
336
 
337
 
338
 
339
# Program the device.
340
program: $(TARGET).hex $(TARGET).eep
341
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
342
 
343
 
344
 
345
 
346
# Create final output files (.hex, .eep) from ELF output file.
347
%.hex: %.elf
348
	@echo
349
	@echo $(MSG_FLASH) $@
350
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
351
 
352
%.eep: %.elf
353
	@echo
354
	@echo $(MSG_EEPROM) $@
355
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
356
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
357
 
358
# Create extended listing file from ELF output file.
359
%.lss: %.elf
360
	@echo
361
	@echo $(MSG_EXTENDED_LISTING) $@
362
	$(OBJDUMP) -h -S $< > $@
363
 
364
# Create a symbol table from ELF output file.
365
%.sym: %.elf
366
	@echo
367
	@echo $(MSG_SYMBOL_TABLE) $@
368
	avr-nm -n $< > $@
369
 
370
 
371
 
372
# Link: create ELF output file from object files.
373
.SECONDARY : $(TARGET).elf
374
.PRECIOUS : $(OBJ)
375
%.elf: $(OBJ)
376
	@echo
377
	@echo $(MSG_LINKING) $@
378
	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
379
 
380
 
381
# Compile: create object files from C source files.
382
%.o : %.c
383
	@echo
384
	@echo $(MSG_COMPILING) $<
385
	$(CC) -c $(ALL_CFLAGS) $< -o $@
386
 
387
 
388
# Compile: create assembler files from C source files.
389
%.s : %.c
390
	$(CC) -S $(ALL_CFLAGS) $< -o $@
391
 
392
 
393
# Assemble: create object files from assembler source files.
394
%.o : %.S
395
	@echo
396
	@echo $(MSG_ASSEMBLING) $<
397
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
398
 
399
 
400
 
401
 
402
 
403
 
404
# Target: clean project.
405
clean: begin clean_list finished end
406
 
407
clean_list :
408
	@echo
409
	@echo $(MSG_CLEANING)
410
#	$(REMOVE) $(TARGET).hex
411
	$(REMOVE) $(TARGET).eep
412
	$(REMOVE) $(TARGET).obj
413
	$(REMOVE) $(TARGET).cof
414
	$(REMOVE) $(TARGET).elf
415
	$(REMOVE) $(TARGET).map
416
	$(REMOVE) $(TARGET).obj
417
	$(REMOVE) $(TARGET).a90
418
	$(REMOVE) $(TARGET).sym
419
	$(REMOVE) $(TARGET).lnk
420
	$(REMOVE) $(TARGET).lss
421
	$(REMOVE) $(OBJ)
422
	$(REMOVE) $(LST)
423
	$(REMOVE) $(SRC:.c=.s)
424
	$(REMOVE) $(SRC:.c=.d)
425
 
426
 
427
# Automatically generate C source code dependencies.
428
# (Code originally taken from the GNU make user manual and modified
429
# (See README.txt Credits).)
430
#
431
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
432
# (see the SHELL variable defined above).
433
# This may not work with other shells or other seds.
434
#
435
%.d: %.c
436
	set -e; $(CC) -MM $(ALL_CFLAGS) $< \
437
	| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
438
	[ -s $@ ] || rm -f $@
439
 
440
 
441
# Remove the '-' if you want to see the dependency files generated.
442
-include $(SRC:.c=.d)
443
 
444
 
445
 
446
# Listing of phony targets.
447
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
448
	clean clean_list program
449