| 1,21 → 1,19 |
|---|
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644p |
| F_CPU = 20000000 |
| F_CPU = 20000000UL |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MAJOR = 1 |
| VERSION_MINOR = 1 |
| VERSION_PATCH = 0 |
| |
| VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version |
| VERSION_SERIAL_MINOR = 1 # Serial Protocol Minor Version |
| NC_SPI_COMPATIBLE = 6 # SPI Protocol Version |
| |
| #------------------------------------------------------------------- |
| #OPTIONS |
| |
| # Use one of the extensions for a gps solution |
| #EXT = NAVICTRL |
| #EXT = DIRECT_GPS |
| #EXT = MK3MAG |
| EXT = |
| 22,19 → 20,19 |
|---|
| |
| #GYRO=ENC-03_FC1.3 |
| #GYRO_HW_NAME=ENC |
| #GYRO_HW_FACTOR=1.304f |
| #GYRO_PITCHROLL_CORRECTION=1.0f |
| #GYRO_YAW_CORRECTION=1.0f |
| #GYRO_HW_FACTOR=74.688f |
| #GYRO_XY_CORRECTION=1.2f |
| #GYRO_Z_CORRECTION=1.14f |
| |
| GYRO=ADXRS610_FC2.0 |
| GYRO_HW_NAME=ADXR |
| GYRO_HW_FACTOR=1.2288f |
| GYRO_PITCHROLL_CORRECTION=1.0f |
| GYRO_YAW_CORRECTION=1.0f |
| GYRO_HW_FACTOR=70.405f |
| GYRO_XY_CORRECTION=1.0f |
| GYRO_Z_CORRECTION=1.0f |
| |
| #GYRO=invenSense |
| #GYRO_HW_NAME=Isense |
| #GYRO_HW_FACTOR=0.6827f |
| #GYRO_HW_FACTOR=39.114f |
| #GYRO_PITCHROLL_CORRECTION=1.0f |
| #GYRO_YAW_CORRECTION=1.0f |
| |
| 53,12 → 51,10 |
|---|
| HEX_NAME = MEGA644p_$(EXT)_$(GYRO) |
| endif |
| |
| |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| |
| |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| |
| 73,54 → 69,6 |
|---|
| ifeq ($(VERSION_PATCH), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 8) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 9) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 10) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 11) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)l_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 12) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 13) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 14) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 15) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 16) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 17) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 100) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)df_SVN$(REV) |
| endif |
| |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| 129,10 → 77,12 |
|---|
| |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart0.c printf_P.c timer0.c timer2.c analog.c menu.c output.c controlMixer.c failsafeControl.c |
| SRC += externalControl.c compassControl.c dongfangMath.c twimaster.c rc.c attitude.c flight.c |
| SRC += eeprom.c heightControl.c configuration.c attitudeControl.c commands.c $(GYRO).c |
| SRC = main.c uart0.c timer0.c timer2.c analog.c output.c controlMixer.c failsafeControl.c |
| SRC += externalControl.c compassControl.c twimaster.c rc.c flight.c profiler.c |
| SRC += eeprom.c heightControl.c configuration.c commands.c $(GYRO).c attitude_ardupilot.c |
| |
| CPPSRC = AP_AHRS_DCM.cpp AP_Math.cpp Matrix3.cpp Vector3.cpp AP_Compass_HIL.cpp Compass.cpp |
| |
| ifeq ($(EXT), DIRECT_GPS) |
| SRC += mk3mag.c directGPSNaviControl.c uart1.c ubx.c |
| endif |
| 141,9 → 91,6 |
|---|
| SRC += mk3mag.c |
| endif |
| |
| ifeq ($(EXT), NAVICTRL) |
| SRC += spi.c |
| endif |
| ########################################################################################################## |
| |
| # List Assembler source files here. |
| 169,11 → 116,15 |
|---|
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wall \ |
| -DGYRO=$(GYRO) \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| |
| CPPFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fshort-enums \ |
| -Wall \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| 181,10 → 132,9 |
|---|
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| #CFLAGS += -std=gnu99 |
| 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) -DGYRO_HW_NAME=${GYRO_HW_NAME} -DGYRO_HW_FACTOR=${GYRO_HW_FACTOR} -DGYRO_SATURATION_RATE=${GYRO_SATURATION_RATE} -DGYRO_XY_CORRECTION=${GYRO_XY_CORRECTION} -DGYRO_Z_CORRECTION=${GYRO_Z_CORRECTION} |
| |
| CFLAGS += -DF_CPU=$(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} |
| |
| ifeq ($(EXT), DIRECT_GPS) |
| CFLAGS += -DUSE_DIRECT_GPS |
| CFLAGS += -DUSE_MK3MAG |
| 194,10 → 144,6 |
|---|
| CFLAGS += -DUSE_MK3MAG |
| endif |
| |
| ifeq ($(EXT), NAVICTRL) |
| CFLAGS += -DUSE_NAVICTRL |
| endif |
| |
| ifeq ($(SETUP), QUADRO) |
| CFLAGS += -DUSE_QUADRO |
| endif |
| 221,8 → 167,6 |
|---|
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| |
| |
| |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| 229,18 → 173,13 |
|---|
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| |
| # Additional libraries |
| |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| |
| # -lm = math library |
| LDFLAGS += -lm |
| LDFLAGS += -lc |
| LDFLAGS += -lm |
| |
| |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| |
| |
| 302,6 → 241,8 |
|---|
| SHELL = sh |
| |
| CC = avr-gcc |
| #avr-gcc |
| CPPC = avr-g++ |
| |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| 331,15 → 272,19 |
|---|
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_COMPILING_CPP = Compiling C++: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| |
| |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| GENOBJ = $(CPPSRC:.cpp=.o) $(SRC:.c=.o) $(ASRC:.S=.o) |
| # OBJ = lib/square.o lib/_addsub_sf.o lib/_mul_sf.o $(GENOBJ) |
| OBJ = $(GENOBJ) |
| |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # $(CPPSRC:.cpp=.lst) |
| |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| 346,13 → 291,12 |
|---|
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| ALL_CPPFLAGS = -mmcu=$(MCU) -I. $(CPPFLAGS) |
| |
| |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| |
| |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| 375,13 → 319,10 |
|---|
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| |
| |
| |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| |
| |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| 447,18 → 388,25 |
|---|
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| |
| |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| $(CPPC) -c $(ALL_CFLAGS) $< -o $@ |
| |
| # Compile: create object files from C source files. |
| %.o : %.cpp |
| @echo |
| @echo $(MSG_COMPILING_CPP) $< |
| $(CPPC) -c $(ALL_CPPFLAGS) $< -o $@ |
| |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| |
| # Compile: create assembler files from C++ source files. |
| %.s : %.cpp |
| $(CPPC) -S $(ALL_CFLAGS) $< -o $@ |
| |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| 466,11 → 414,6 |
|---|
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| |
| |
| |
| |
| |
| |
| # Target: clean project. |
| clean: begin clean_list finished end |
| |
| 477,7 → 420,7 |
|---|
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| 488,7 → 431,7 |
|---|
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(GENOBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |