Subversion Repositories FlightCtrl

#--------------------------------------------------------------------

#--------------------------------------------------------------------

# MCU name

# MCU name

MCU = atmega644p

MCU = atmega644p

#-------------------------------------------------------------------

#-------------------------------------------------------------------

VERSION_MINOR    =  1

VERSION_MINOR    =  1

VERSION_PATCH    =  0

VERSION_PATCH    =  0

VERSION_SERIAL_MAJOR = 10	# Serial Protocol Major Version

VERSION_SERIAL_MAJOR = 10	# Serial Protocol Major Version

NC_SPI_COMPATIBLE =    6 	# SPI Protocol Version

VERSION_SERIAL_MINOR = 1	# Serial Protocol Minor Version

#-------------------------------------------------------------------

#-------------------------------------------------------------------

#OPTIONS

# Use one of the extensions for a gps solution

#EXT = NAVICTRL

# Use one of the extensions for a gps solution

#EXT = DIRECT_GPS

#EXT = DIRECT_GPS

#EXT = MK3MAG

#EXT = MK3MAG

#GYRO_HW_NAME=ENC

#GYRO_HW_NAME=ENC

#GYRO_HW_FACTOR=1.304f

#GYRO_HW_FACTOR=74.688f

GYRO=ADXRS610_FC2.0

GYRO=ADXRS610_FC2.0

GYRO_HW_NAME=ADXR

GYRO_HW_NAME=ADXR

GYRO_PITCHROLL_CORRECTION=1.0f

GYRO_XY_CORRECTION=1.0f

GYRO_YAW_CORRECTION=1.0f

GYRO_Z_CORRECTION=1.0f

#GYRO=invenSense

#GYRO=invenSense

ifeq ($(MCU), atmega644p)

ifeq ($(MCU), atmega644p)

 FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m

 FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m

 HEX_NAME = MEGA644p_$(EXT)_$(GYRO)

 HEX_NAME = MEGA644p_$(EXT)_$(GYRO)

endif

endif

ifeq ($(F_CPU), 20000000)

ifeq ($(F_CPU), 20000000)

 QUARZ = 20MHZ

 QUARZ = 20MHZ

endif

# Output format. (can be srec, ihex, binary)

# Output format. (can be srec, ihex, binary)

TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV)

TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV)

endif

endif

ifeq ($(VERSION_PATCH), 2)

ifeq ($(VERSION_PATCH), 2)

TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV)

TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV)

endif

endif

# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.

# 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.)

# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

OPT = 2

OPT = 2

#OPT = s

#OPT = s

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 

CPPSRC = AP_AHRS_DCM.cpp AP_Math.cpp Matrix3.cpp Vector3.cpp AP_Compass_HIL.cpp Compass.cpp

ifeq ($(EXT), DIRECT_GPS)

ifeq ($(EXT), DIRECT_GPS)

SRC += mk3mag.c directGPSNaviControl.c uart1.c ubx.c 

SRC += mk3mag.c directGPSNaviControl.c uart1.c ubx.c 

endif

endif

endif

ifeq ($(EXT), MK3MAG)

ifeq ($(EXT), NAVICTRL)

SRC += mk3mag.c 

SRC += spi.c

endif

#  -Wall...:  warning level

#  -Wall...:  warning level

#  -Wa,...:   tell GCC to pass this to the assembler.

#  -Wa,...:   tell GCC to pass this to the assembler.

#    -ahlms:  create assembler listing

#    -ahlms:  create assembler listing

CFLAGS = -O$(OPT) \

CFLAGS = -O$(OPT) \

-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \

-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \

-DGYRO=$(GYRO) \

-DGYRO=$(GYRO) \

-Wa,-adhlns=$(<:.c=.lst) \

-Wa,-adhlns=$(<:.c=.lst) \

$(patsubst %,-I%,$(EXTRAINCDIRS))

$(patsubst %,-I%,$(EXTRAINCDIRS))

$(patsubst %,-I%,$(EXTRAINCDIRS))

# Set a "language standard" compiler flag.

# Set a "language standard" compiler flag.

#   Unremark just one line below to set the language standard to use.

#   Unremark just one line below to set the language standard to use.

#   gnu99 = C99 + GNU extensions. See GCC manual for more information.

#   gnu99 = C99 + GNU extensions. See GCC manual for more information.

#CFLAGS += -std=c89

#CFLAGS += -std=c89

#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) -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}

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}

ifeq ($(EXT), DIRECT_GPS)

ifeq ($(EXT), DIRECT_GPS)

 CFLAGS += -DUSE_DIRECT_GPS

 CFLAGS += -DUSE_DIRECT_GPS

 CFLAGS += -DUSE_MK3MAG

 CFLAGS += -DUSE_MK3MAG

endif

endif

ifeq ($(EXT), NAVICTRL)

ifeq ($(EXT), MK3MAG)

 CFLAGS += -DUSE_NAVICTRL

 CFLAGS += -DUSE_MK3MAG

endif

endif

#             for use in COFF files, additional information about filenames

#             for use in COFF files, additional information about filenames

#             and function names needs to be present in the assembler source

#             and function names needs to be present in the assembler source

#             files -- see avr-libc docs [FIXME: not yet described there]

#             files -- see avr-libc docs [FIXME: not yet described there]

ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 

ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 

# Optional linker flags.

# Optional linker flags.

#  -Wl,...:   tell GCC to pass this to linker.

#  -Wl,...:   tell GCC to pass this to linker.

#  -Map:      create map file

#  -Map:      create map file

#  --cref:    add cross reference to  map file

#  --cref:    add cross reference to  map file

# Additional libraries

LDFLAGS = -Wl,-Map=$(TARGET).map,--cref

# Floating point printf version (requires -lm below)

# Minimalistic printf version

# -lm = math library

# -lm = math library

LDFLAGS += -lm

LDFLAGS += -lc 

# Define programs and commands.

# Define programs and commands.

SHELL = sh

SHELL = sh

#avr-gcc

CC = avr-gcc

CPPC = avr-g++

MSG_EEPROM = Creating load file for EEPROM:

MSG_EEPROM = Creating load file for EEPROM:

MSG_EXTENDED_LISTING = Creating Extended Listing:

MSG_EXTENDED_LISTING = Creating Extended Listing:

MSG_SYMBOL_TABLE = Creating Symbol Table:

MSG_SYMBOL_TABLE = Creating Symbol Table:

MSG_LINKING = Linking:

MSG_LINKING = Linking:

MSG_COMPILING = Compiling:

MSG_COMPILING = Compiling:

MSG_ASSEMBLING = Assembling:

MSG_ASSEMBLING = Assembling:

MSG_CLEANING = Cleaning project:

MSG_CLEANING = Cleaning project:

# Define all object files.

# OBJ = lib/square.o lib/_addsub_sf.o lib/_mul_sf.o $(GENOBJ)

OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 

OBJ = $(GENOBJ)

# Define all listing files.

# Define all listing files.

LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)

LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)

# $(CPPSRC:.cpp=.lst)

# Combine all necessary flags and optional flags.

# Combine all necessary flags and optional flags.

#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)

#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)

ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)

ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)

ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)

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 \

# Default target.

	$(TARGET).lss $(TARGET).sym sizeafter finished end

all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \

	$(TARGET).lss $(TARGET).sym sizeafter finished end

	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi

	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi

sizeafter:

sizeafter:

	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi

# Display compiler version information.

# Display compiler version information.

	@$(CC) --version

gccversion : 

	@$(CC) --version

# Convert ELF to COFF for use in debugging / simulating in

# Convert ELF to COFF for use in debugging / simulating in

# AVR Studio or VMLAB.

# AVR Studio or VMLAB.

%.elf: $(OBJ)

%.elf: $(OBJ)

	@echo

	@echo

	@echo $(MSG_LINKING) $@

	@echo $(MSG_LINKING) $@

	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)

	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)

# Compile: create object files from C source files.

# Compile: create object files from C source files.

%.o : %.c

%.o : %.c

	@echo

	@echo

	$(CC) -c $(ALL_CFLAGS) $< -o $@

	@echo $(MSG_COMPILING_CPP) $<

	$(CPPC) -c $(ALL_CPPFLAGS) $< -o $@

# Compile: create assembler files from C source files.

%.s : %.c

# Compile: create assembler files from C++ source files.

	$(CC) -S $(ALL_CFLAGS) $< -o $@

%.s : %.cpp

	$(CPPC) -S $(ALL_CFLAGS) $< -o $@

# Assemble: create object files from assembler source files.

%.o : %.S

	@echo

	@echo $(MSG_ASSEMBLING) $<

	$(CC) -c $(ALL_ASFLAGS) $< -o $@

# Target: clean project.

# Target: clean project.

clean: begin clean_list finished end

clean: begin clean_list finished end

clean_list :

clean_list :

	@echo

	@echo

	@echo $(MSG_CLEANING)

	@echo $(MSG_CLEANING)

#	$(REMOVE) $(TARGET).hex

	$(REMOVE) $(TARGET).hex

	$(REMOVE) $(TARGET).eep

	$(REMOVE) $(TARGET).eep

	$(REMOVE) $(TARGET).obj

	$(REMOVE) $(TARGET).obj

	$(REMOVE) $(TARGET).cof

	$(REMOVE) $(TARGET).cof

	$(REMOVE) $(TARGET).map

	$(REMOVE) $(TARGET).map

	$(REMOVE) $(TARGET).obj

	$(REMOVE) $(TARGET).obj

	$(REMOVE) $(TARGET).a90

	$(REMOVE) $(TARGET).a90

	$(REMOVE) $(TARGET).sym

	$(REMOVE) $(TARGET).sym