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1612 dongfang 1
#--------------------------------------------------------------------
2
# MCU name
3
MCU = atmega644p
4
F_CPU = 20000000
5
#-------------------------------------------------------------------
6
VERSION_MAJOR    =  0
7
VERSION_MINOR    =  74
1775 - 8
VERSION_PATCH    =  100
1612 dongfang 9
 
10
VERSION_SERIAL_MAJOR = 10	# Serial Protocol Major Version
11
VERSION_SERIAL_MINOR = 1	# Serial Protocol Minor Version
1775 - 12
NC_SPI_COMPATIBLE =    6  	# SPI Protocol Version
1612 dongfang 13
 
14
#-------------------------------------------------------------------
15
#OPTIONS
16
 
17
# Use one of the extensions for a gps solution
18
EXT = NAVICTRL
19
#EXT = MK3MAG
20
 
21
# Use optional one the RCs if EXT = NAVICTRL has been used
1775 - 22
#RC = DSL
1612 dongfang 23
#RC = SPECTRUM
24
 
1646 - 25
#GYRO=ENC-03_FC1.3
1775 - 26
#GYRO_HW_NAME=ENC
27
#GYRO_HW_FACTOR=1.304f
28
#GYRO_PITCHROLL_CORRECTION=0.83f
29
#GYRO_YAW_CORRECTION=0.93f
30
 
1646 - 31
GYRO=ADXRS610_FC2.0
1775 - 32
GYRO_HW_NAME=ADXR
33
GYRO_HW_FACTOR=1.2288f
34
GYRO_PITCHROLL_CORRECTION=1.0f
35
GYRO_YAW_CORRECTION=1.0f
36
 
1634 - 37
#GYRO=invenSense
1775 - 38
#GYRO_HW_NAME=Isense
39
#GYRO_HW_FACTOR=0.6827f
40
#GYRO_PITCHROLL_CORRECTION=0.93f
41
#GYRO_YAW_CORRECTION=0.97f
1612 dongfang 42
 
1775 - 43
#GYRO=
44
#GYRO=invenSense
45
 
1612 dongfang 46
#-------------------------------------------------------------------
47
# get SVN revision
48
REV=0001
49
#$(shell sh -c "cat .svn/entries | sed -n '4p'")
50
 
51
ifeq ($(MCU), atmega644)
52
 FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
53
 HEX_NAME = MEGA644_$(EXT)_$(RC)_$(GYRO)
54
endif
55
 
56
ifeq ($(MCU), atmega644p)
57
 FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
58
 HEX_NAME = MEGA644p_$(EXT)_$(RC)_$(GYRO)
59
endif
60
 
61
 
62
ifeq ($(F_CPU), 16000000)
63
 QUARZ = 16MHZ
64
endif
65
 
66
ifeq ($(F_CPU), 20000000)
67
 QUARZ = 20MHZ
68
endif
69
 
70
 
71
# Output format. (can be srec, ihex, binary)
72
FORMAT = ihex
73
 
74
# Target file name (without extension).
75
 
76
ifeq ($(VERSION_PATCH), 0)
77
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV)
78
endif
79
ifeq ($(VERSION_PATCH), 1)
80
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV)
81
endif
82
ifeq ($(VERSION_PATCH), 2)
83
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV)
84
endif
85
ifeq ($(VERSION_PATCH), 3)
86
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV)
87
endif
88
ifeq ($(VERSION_PATCH), 4)
89
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV)
90
endif
91
ifeq ($(VERSION_PATCH), 5)
92
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV)
93
endif
94
ifeq ($(VERSION_PATCH), 6)
95
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV)
96
endif
97
ifeq ($(VERSION_PATCH), 7)
98
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV)
99
endif
100
ifeq ($(VERSION_PATCH), 8)
101
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV)
102
endif
103
ifeq ($(VERSION_PATCH), 9)
104
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV)
105
endif
106
ifeq ($(VERSION_PATCH), 10)
107
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV)
108
endif
109
ifeq ($(VERSION_PATCH), 11)
110
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)l_SVN$(REV)
111
endif
112
ifeq ($(VERSION_PATCH), 12)
113
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV)
114
endif
115
ifeq ($(VERSION_PATCH), 13)
116
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV)
117
endif
118
ifeq ($(VERSION_PATCH), 14)
119
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV)
120
endif
121
ifeq ($(VERSION_PATCH), 15)
122
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV)
123
endif
124
ifeq ($(VERSION_PATCH), 16)
125
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV)
126
endif
127
ifeq ($(VERSION_PATCH), 17)
128
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV)
129
endif
1775 - 130
ifeq ($(VERSION_PATCH), 100)
131
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)df_SVN$(REV)
132
endif
1612 dongfang 133
 
134
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
135
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
136
OPT = 2
137
#OPT = s
138
 
139
##########################################################################################################
140
# List C source files here. (C dependencies are automatically generated.)
1775 - 141
SRC = main.c uart0.c printf_P.c timer0.c timer2.c analog.c menu.c output.c controlMixer.c
142
SRC += externalControl.c GPSControl.c dongfangMath.c twimaster.c rc.c attitude.c flight.c
143
SRC += eeprom.c uart1.c heightControl.c configuration.c attitudeControl.c commands.c $(GYRO).c
1612 dongfang 144
 
145
ifeq ($(EXT), MK3MAG)
1775 - 146
SRC += mk3mag.c gps.c ubx.c
147
#mymath.c
1612 dongfang 148
endif
149
ifeq ($(EXT), NAVICTRL)
150
SRC += spi.c
151
ifeq ($(RC), DSL)
152
SRC += dsl.c
153
endif
154
ifeq ($(RC), SPECTRUM)
155
SRC += spectrum.c
156
endif
157
endif
158
##########################################################################################################
159
 
160
# List Assembler source files here.
161
# Make them always end in a capital .S.  Files ending in a lowercase .s
162
# will not be considered source files but generated files (assembler
163
# output from the compiler), and will be deleted upon "make clean"!
164
# Even though the DOS/Win* filesystem matches both .s and .S the same,
165
# it will preserve the spelling of the filenames, and gcc itself does
166
# care about how the name is spelled on its command-line.
167
ASRC =
168
 
169
# List any extra directories to look for include files here.
170
#     Each directory must be seperated by a space.
171
EXTRAINCDIRS =
172
 
173
 
174
# Optional compiler flags.
175
#  -g:        generate debugging information (for GDB, or for COFF conversion)
176
#  -O*:       optimization level
177
#  -f...:     tuning, see gcc manual and avr-libc documentation
178
#  -Wall...:  warning level
179
#  -Wa,...:   tell GCC to pass this to the assembler.
180
#    -ahlms:  create assembler listing
181
CFLAGS = -O$(OPT) \
182
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
183
-Wall -Wstrict-prototypes \
184
-DGYRO=$(GYRO) \
185
-Wa,-adhlns=$(<:.c=.lst) \
186
$(patsubst %,-I%,$(EXTRAINCDIRS))
187
 
188
 
189
# Set a "language standard" compiler flag.
190
#   Unremark just one line below to set the language standard to use.
191
#   gnu99 = C99 + GNU extensions. See GCC manual for more information.
192
#CFLAGS += -std=c89
193
#CFLAGS += -std=gnu89
194
#CFLAGS += -std=c99
195
CFLAGS += -std=gnu99
196
 
1775 - 197
CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) -DGYRO_HW_NAME=${GYRO_HW_NAME} -DGYRO_HW_FACTOR=${GYRO_HW_FACTOR} -DGYRO_PITCHROLL_CORRECTION=${GYRO_PITCHROLL_CORRECTION} -DGYRO_YAW_CORRECTION=${GYRO_YAW_CORRECTION}
1612 dongfang 198
 
199
ifeq ($(EXT), MK3MAG)
200
 CFLAGS += -DUSE_MK3MAG
201
endif
202
ifeq ($(EXT), NAVICTRL)
203
 CFLAGS += -DUSE_NAVICTRL
204
ifeq ($(RC), DSL)
205
  CFLAGS += -DUSE_RC_DSL
206
endif
207
ifeq ($(RC), SPECTRUM)
208
  CFLAGS += -DUSE_RC_SPECTRUM
209
endif
210
endif
211
 
212
ifeq ($(SETUP), QUADRO)
213
 CFLAGS += -DUSE_QUADRO
214
endif
215
ifeq ($(SETUP), OCTO)
216
 CFLAGS += -DUSE_OCTO
217
endif
218
ifeq ($(SETUP), OCTO2)
219
 CFLAGS += -DUSE_OCTO2
220
endif
221
ifeq ($(SETUP), OCTO3)
222
 CFLAGS += -DUSE_OCTO3
223
endif
224
 
225
 
226
# Optional assembler flags.
227
#  -Wa,...:   tell GCC to pass this to the assembler.
228
#  -ahlms:    create listing
229
#  -gstabs:   have the assembler create line number information; note that
230
#             for use in COFF files, additional information about filenames
231
#             and function names needs to be present in the assembler source
232
#             files -- see avr-libc docs [FIXME: not yet described there]
233
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
234
 
235
 
236
 
237
# Optional linker flags.
238
#  -Wl,...:   tell GCC to pass this to linker.
239
#  -Map:      create map file
240
#  --cref:    add cross reference to  map file
241
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
242
 
243
# Additional libraries
244
 
245
# Minimalistic printf version
246
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
247
 
248
# Floating point printf version (requires -lm below)
249
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
250
 
251
# -lm = math library
252
LDFLAGS += -lm
253
 
254
 
255
##LDFLAGS += -T./linkerfile/avr5.x
256
 
257
 
258
 
259
# Programming support using avrdude. Settings and variables.
260
 
261
# Programming hardware: alf avr910 avrisp bascom bsd
262
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
263
#
264
# Type: avrdude -c ?
265
# to get a full listing.
266
#
267
#AVRDUDE_PROGRAMMER = dt006
268
#AVRDUDE_PROGRAMMER = stk200
269
#AVRDUDE_PROGRAMMER = ponyser
270
AVRDUDE_PROGRAMMER = avrispv2
271
#falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden
272
 
273
#AVRDUDE_PORT = com1    # programmer connected to serial device
274
#AVRDUDE_PORT = lpt1    # programmer connected to parallel port
275
AVRDUDE_PORT = usb # programmer connected to USB
276
 
277
#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
278
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS)
279
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
280
 
281
#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex
282
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
283
 
284
# Uncomment the following if you want avrdude's erase cycle counter.
285
# Note that this counter needs to be initialized first using -Yn,
286
# see avrdude manual.
287
#AVRDUDE_ERASE += -y
288
 
289
# Uncomment the following if you do /not/ wish a verification to be
290
# performed after programming the device.
291
AVRDUDE_FLAGS += -V
292
 
293
# Increase verbosity level.  Please use this when submitting bug
294
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
295
# to submit bug reports.
296
#AVRDUDE_FLAGS += -v -v
297
 
298
# ---------------------------------------------------------------------------
299
# Define directories, if needed.
300
DIRAVR = c:/winavr
301
DIRAVRBIN = $(DIRAVR)/bin
302
DIRAVRUTILS = $(DIRAVR)/utils/bin
303
DIRINC = .
304
DIRLIB = $(DIRAVR)/avr/lib
305
 
306
 
307
# Define programs and commands.
308
SHELL = sh
309
 
310
CC = avr-gcc
311
 
312
OBJCOPY = avr-objcopy
313
OBJDUMP = avr-objdump
314
SIZE = avr-size
315
 
316
# Programming support using avrdude.
317
AVRDUDE = avrdude
318
 
319
REMOVE = rm -f
320
COPY = cp
321
 
322
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
323
ELFSIZE = $(SIZE) -A $(TARGET).elf
324
 
325
# Define Messages
326
# English
327
MSG_ERRORS_NONE = Errors: none
328
MSG_BEGIN = -------- begin --------
329
MSG_END = --------  end  --------
330
MSG_SIZE_BEFORE = Size before:
331
MSG_SIZE_AFTER = Size after:
332
MSG_COFF = Converting to AVR COFF:
333
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
334
MSG_FLASH = Creating load file for Flash:
335
MSG_EEPROM = Creating load file for EEPROM:
336
MSG_EXTENDED_LISTING = Creating Extended Listing:
337
MSG_SYMBOL_TABLE = Creating Symbol Table:
338
MSG_LINKING = Linking:
339
MSG_COMPILING = Compiling:
340
MSG_ASSEMBLING = Assembling:
341
MSG_CLEANING = Cleaning project:
342
 
343
 
344
# Define all object files.
345
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
346
 
347
# Define all listing files.
348
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
349
 
350
# Combine all necessary flags and optional flags.
351
# Add target processor to flags.
352
#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)
353
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
354
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
355
 
356
 
357
# Default target.
358
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
359
	$(TARGET).lss $(TARGET).sym sizeafter finished end
360
 
361
 
362
# Eye candy.
363
# AVR Studio 3.x does not check make's exit code but relies on
364
# the following magic strings to be generated by the compile job.
365
begin:
366
	@echo
367
	@echo $(MSG_BEGIN)
368
 
369
finished:
370
	@echo $(MSG_ERRORS_NONE)
371
 
372
end:
373
	@echo $(MSG_END)
374
	@echo
375
 
376
 
377
# Display size of file.
378
sizebefore:
379
	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
380
 
381
sizeafter:
382
	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
383
 
384
 
385
 
386
# Display compiler version information.
387
gccversion :
388
	@$(CC) --version
389
 
390
 
391
# Convert ELF to COFF for use in debugging / simulating in
392
# AVR Studio or VMLAB.
393
COFFCONVERT=$(OBJCOPY) --debugging \
394
	--change-section-address .data-0x800000 \
395
	--change-section-address .bss-0x800000 \
396
	--change-section-address .noinit-0x800000 \
397
	--change-section-address .eeprom-0x810000
398
 
399
 
400
coff: $(TARGET).elf
401
	@echo
402
	@echo $(MSG_COFF) $(TARGET).cof
403
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
404
 
405
 
406
extcoff: $(TARGET).elf
407
	@echo
408
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
409
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
410
 
411
 
412
 
413
 
414
# Program the device.
415
program: $(TARGET).hex $(TARGET).eep
416
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
417
 
418
 
419
 
420
 
421
# Create final output files (.hex, .eep) from ELF output file.
422
%.hex: %.elf
423
	@echo
424
	@echo $(MSG_FLASH) $@
425
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
426
 
427
%.eep: %.elf
428
	@echo
429
	@echo $(MSG_EEPROM) $@
430
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
431
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
432
 
433
# Create extended listing file from ELF output file.
434
%.lss: %.elf
435
	@echo
436
	@echo $(MSG_EXTENDED_LISTING) $@
437
	$(OBJDUMP) -h -S $< > $@
438
 
439
# Create a symbol table from ELF output file.
440
%.sym: %.elf
441
	@echo
442
	@echo $(MSG_SYMBOL_TABLE) $@
443
	avr-nm -n $< > $@
444
 
445
 
446
 
447
# Link: create ELF output file from object files.
448
.SECONDARY : $(TARGET).elf
449
.PRECIOUS : $(OBJ)
450
%.elf: $(OBJ)
451
	@echo
452
	@echo $(MSG_LINKING) $@
453
	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
454
 
455
 
456
# Compile: create object files from C source files.
457
%.o : %.c
458
	@echo
459
	@echo $(MSG_COMPILING) $<
460
	$(CC) -c $(ALL_CFLAGS) $< -o $@
461
 
462
 
463
# Compile: create assembler files from C source files.
464
%.s : %.c
465
	$(CC) -S $(ALL_CFLAGS) $< -o $@
466
 
467
 
468
# Assemble: create object files from assembler source files.
469
%.o : %.S
470
	@echo
471
	@echo $(MSG_ASSEMBLING) $<
472
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
473
 
474
 
475
 
476
 
477
 
478
 
479
# Target: clean project.
480
clean: begin clean_list finished end
481
 
482
clean_list :
483
	@echo
484
	@echo $(MSG_CLEANING)
485
#	$(REMOVE) $(TARGET).hex
486
	$(REMOVE) $(TARGET).eep
487
	$(REMOVE) $(TARGET).obj
488
	$(REMOVE) $(TARGET).cof
489
	$(REMOVE) $(TARGET).elf
490
	$(REMOVE) $(TARGET).map
491
	$(REMOVE) $(TARGET).obj
492
	$(REMOVE) $(TARGET).a90
493
	$(REMOVE) $(TARGET).sym
494
	$(REMOVE) $(TARGET).lnk
495
	$(REMOVE) $(TARGET).lss
496
	$(REMOVE) $(OBJ)
497
	$(REMOVE) $(LST)
498
	$(REMOVE) $(SRC:.c=.s)
499
	$(REMOVE) $(SRC:.c=.d)
500
 
501
 
502
# Automatically generate C source code dependencies.
503
# (Code originally taken from the GNU make user manual and modified
504
# (See README.txt Credits).)
505
#
506
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
507
# (see the SHELL variable defined above).
508
# This may not work with other shells or other seds.
509
#
510
%.d: %.c
511
	set -e; $(CC) -MM $(ALL_CFLAGS) $< \
512
	| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
513
	[ -s $@ ] || rm -f $@
514
 
515
 
516
# Remove the '-' if you want to see the dependency files generated.
517
-include $(SRC:.c=.d)
518
 
519
 
520
 
521
# Listing of phony targets.
522
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
523
	clean clean_list program
524