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2108 - 1
#--------------------------------------------------------------------
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# MCU name
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MCU = atmega328
2109 - 4
F_CPU = 8000000
5
QUARZ = 8MHZ
2108 - 6
 
7
#-------------------------------------------------------------------
8
VERSION_MAJOR    =  0
9
VERSION_MINOR    =  0
10
VERSION_PATCH    =  0
11
 
12
VERSION_SERIAL_MAJOR = 10	# Serial Protocol Major Version
13
VERSION_SERIAL_MINOR = 1	# Serial Protocol Minor Version
14
NC_SPI_COMPATIBLE =    6  	# SPI Protocol Version
15
 
2109 - 16
GYRO=IMU3200
17
GYRO_HW_NAME=IMU3200
18
GYRO_HW_FACTOR=1.45f
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GYRO_CORRECTION=1.0f
20
 
21
#-------------------------------------------------------------------
22
# get SVN revision
23
REV=0001
24
#$(shell sh -c "cat .svn/entries | sed -n '4p'")
25
 
26
ifeq ($(MCU), atmega328)
27
 FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
28
 HEX_NAME = MEGA328_$(GYRO)
29
endif
30
 
31
# Output format. (can be srec, ihex, binary)
32
FORMAT = ihex
33
 
34
# Target file name (without extension).
35
 
36
TARGET = Flight-Ctrl_Fixedwing_$(HEX_NAME)
37
 
38
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
39
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
40
OPT = 2
41
#OPT = s
42
 
43
##########################################################################################################
44
# List C source files here. (C dependencies are automatically generated.)
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SRC = main.c uart0.c timer0.c timer2.c analog.c output.c controlMixer.c
46
SRC += rc.c failsafeControl.c attitude.c flight.c  printf_P.c commands.c
47
SRC += eeprom.c configuration.c externalControl.c twimaster.c
48
 
49
##########################################################################################################
50
 
51
# List Assembler source files here.
52
# Make them always end in a capital .S.  Files ending in a lowercase .s
53
# will not be considered source files but generated files (assembler
54
# output from the compiler), and will be deleted upon "make clean"!
55
# Even though the DOS/Win* filesystem matches both .s and .S the same,
56
# it will preserve the spelling of the filenames, and gcc itself does
57
# care about how the name is spelled on its command-line.
58
ASRC = isqrt.S
59
 
60
# List any extra directories to look for include files here.
61
#     Each directory must be seperated by a space.
62
EXTRAINCDIRS =
63
 
64
 
65
# Optional compiler flags.
66
#  -g:        generate debugging information (for GDB, or for COFF conversion)
67
#  -O*:       optimization level
68
#  -f...:     tuning, see gcc manual and avr-libc documentation
69
#  -Wall...:  warning level
70
#  -Wa,...:   tell GCC to pass this to the assembler.
71
#    -ahlms:  create assembler listing
72
CFLAGS = -O$(OPT) \
73
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
74
-Wall -Wstrict-prototypes \
75
-DGYRO=$(GYRO) \
76
-Wa,-adhlns=$(<:.c=.lst) \
77
$(patsubst %,-I%,$(EXTRAINCDIRS))
78
 
79
 
80
# Set a "language standard" compiler flag.
81
#   Unremark just one line below to set the language standard to use.
82
#   gnu99 = C99 + GNU extensions. See GCC manual for more information.
83
#CFLAGS += -std=c89
84
#CFLAGS += -std=gnu89
85
#CFLAGS += -std=c99
86
CFLAGS += -std=gnu99
87
 
88
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=${GYRO_HW_FACTOR} -DGYRO_CORRECTION=${GYRO_CORRECTION}
89
 
90
# Optional assembler flags.
91
#  -Wa,...:   tell GCC to pass this to the assembler.
92
#  -ahlms:    create listing
93
#  -gstabs:   have the assembler create line number information; note that
94
#             for use in COFF files, additional information about filenames
95
#             and function names needs to be present in the assembler source
96
#             files -- see avr-libc docs [FIXME: not yet described there]
97
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
98
 
99
# Optional linker flags.
100
#  -Wl,...:   tell GCC to pass this to linker.
101
#  -Map:      create map file
102
#  --cref:    add cross reference to  map file
103
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
104
 
105
# Additional libraries
106
 
107
# Minimalistic printf version
108
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
109
 
110
# Floating point printf version (requires -lm below)
111
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
112
 
113
# -lm = math library
114
LDFLAGS += -lm
115
 
116
 
117
##LDFLAGS += -T./linkerfile/avr5.x
118
 
119
 
120
# Programming support using avrdude. Settings and variables.
121
 
122
# Programming hardware: alf avr910 avrisp bascom bsd
123
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
124
#
125
# Type: avrdude -c ?
126
# to get a full listing.
127
#
128
#AVRDUDE_PROGRAMMER = dt006
129
#AVRDUDE_PROGRAMMER = stk200
130
#AVRDUDE_PROGRAMMER = ponyser
131
#AVRDUDE_PROGRAMMER = avrispv2
132
AVRDUDE_PROGRAMMER = usbtiny
133
 
134
#falls Ponyser ausgewaehlt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden
135
 
136
#AVRDUDE_PORT = com1    # programmer connected to serial device
137
#AVRDUDE_PORT = lpt1    # programmer connected to parallel port
138
AVRDUDE_PORT = usb # programmer connected to USB
139
 
140
#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
141
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS)
142
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
143
 
144
#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex
145
AVRDUDE_FLAGS = -p $(MCU) -c $(AVRDUDE_PROGRAMMER) -B 1 -F
146
 
147
# Uncomment the following if you want avrdude's erase cycle counter.
148
# Note that this counter needs to be initialized first using -Yn,
149
# see avrdude manual.
150
#AVRDUDE_ERASE += -y
151
 
152
# Uncomment the following if you do /not/ wish a verification to be
153
# performed after programming the device.
154
AVRDUDE_FLAGS += -V
155
 
156
# Increase verbosity level.  Please use this when submitting bug
157
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
158
# to submit bug reports.
159
#AVRDUDE_FLAGS += -v -v
160
 
161
# ---------------------------------------------------------------------------
162
# Define directories, if needed.
163
DIRAVR = c:/winavr
164
DIRAVRBIN = $(DIRAVR)/bin
165
DIRAVRUTILS = $(DIRAVR)/utils/bin
166
DIRINC = .
167
DIRLIB = $(DIRAVR)/avr/lib
168
 
169
 
170
# Define programs and commands.
171
SHELL = sh
172
 
173
CC = avr-gcc
174
 
175
OBJCOPY = avr-objcopy
176
OBJDUMP = avr-objdump
177
SIZE = avr-size
178
 
179
# Programming support using avrdude.
180
AVRDUDE = avrdude
181
 
182
REMOVE = rm -f
183
COPY = cp
184
 
185
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
186
ELFSIZE = $(SIZE) -A $(TARGET).elf
187
 
188
# Define Messages
189
# English
190
MSG_ERRORS_NONE = Errors: none
191
MSG_BEGIN = -------- begin --------
192
MSG_END = --------  end  --------
193
MSG_SIZE_BEFORE = Size before:
194
MSG_SIZE_AFTER = Size after:
195
MSG_COFF = Converting to AVR COFF:
196
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
197
MSG_FLASH = Creating load file for Flash:
198
MSG_EEPROM = Creating load file for EEPROM:
199
MSG_EXTENDED_LISTING = Creating Extended Listing:
200
MSG_SYMBOL_TABLE = Creating Symbol Table:
201
MSG_LINKING = Linking:
202
MSG_COMPILING = Compiling:
203
MSG_ASSEMBLING = Assembling:
204
MSG_CLEANING = Cleaning project:
205
 
206
 
207
# Define all object files.
208
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
209
 
210
# Define all listing files.
211
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
212
 
213
# Combine all necessary flags and optional flags.
214
# Add target processor to flags.
215
#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)
216
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
217
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
218
 
219
 
220
# Default target.
221
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
222
	$(TARGET).lss $(TARGET).sym sizeafter finished end
223
 
224
 
225
# Eye candy.
226
# AVR Studio 3.x does not check make's exit code but relies on
227
# the following magic strings to be generated by the compile job.
228
begin:
229
	@echo
230
	@echo $(MSG_BEGIN)
231
 
232
finished:
233
	@echo $(MSG_ERRORS_NONE)
234
 
235
end:
236
	@echo $(MSG_END)
237
	@echo
238
 
239
 
240
# Display size of file.
241
sizebefore:
242
	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
243
 
244
sizeafter:
245
	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
246
 
247
 
248
 
249
# Display compiler version information.
250
gccversion :
251
	@$(CC) --version
252
 
253
 
254
# Convert ELF to COFF for use in debugging / simulating in
255
# AVR Studio or VMLAB.
256
COFFCONVERT=$(OBJCOPY) --debugging \
257
	--change-section-address .data-0x800000 \
258
	--change-section-address .bss-0x800000 \
259
	--change-section-address .noinit-0x800000 \
260
	--change-section-address .eeprom-0x810000
261
 
262
 
263
coff: $(TARGET).elf
264
	@echo
265
	@echo $(MSG_COFF) $(TARGET).cof
266
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
267
 
268
 
269
extcoff: $(TARGET).elf
270
	@echo
271
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
272
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
273
 
274
# Program the device.
275
program: $(TARGET).hex $(TARGET).eep
276
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
277
 
278
# Create final output files (.hex, .eep) from ELF output file.
279
%.hex: %.elf
280
	@echo
281
	@echo $(MSG_FLASH) $@
282
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
283
 
284
%.eep: %.elf
285
	@echo
286
	@echo $(MSG_EEPROM) $@
287
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
288
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
289
 
290
# Create extended listing file from ELF output file.
291
%.lss: %.elf
292
	@echo
293
	@echo $(MSG_EXTENDED_LISTING) $@
294
	$(OBJDUMP) -h -S $< > $@
295
 
296
# Create a symbol table from ELF output file.
297
%.sym: %.elf
298
	@echo
299
	@echo $(MSG_SYMBOL_TABLE) $@
300
	avr-nm -n $< > $@
301
 
302
 
303
 
304
# Link: create ELF output file from object files.
305
.SECONDARY : $(TARGET).elf
306
.PRECIOUS : $(OBJ)
307
%.elf: $(OBJ)
308
	@echo
309
	@echo $(MSG_LINKING) $@
310
	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
311
 
312
 
313
# Compile: create object files from C source files.
314
%.o : %.c
315
	@echo
316
	@echo $(MSG_COMPILING) $<
317
	$(CC) -c $(ALL_CFLAGS) $< -o $@
318
 
319
 
320
# Compile: create assembler files from C source files.
321
%.s : %.c
322
	$(CC) -S $(ALL_CFLAGS) $< -o $@
323
 
324
 
325
# Assemble: create object files from assembler source files.
326
%.o : %.S
327
	@echo
328
	@echo $(MSG_ASSEMBLING) $<
329
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
330
 
331
 
332
 
333
 
334
 
335
 
336
# Target: clean project.
337
clean: begin clean_list finished end
338
 
339
clean_list :
340
	@echo
341
	@echo $(MSG_CLEANING)
342
	$(REMOVE) $(TARGET).hex
343
	$(REMOVE) $(TARGET).eep
344
	$(REMOVE) $(TARGET).obj
345
	$(REMOVE) $(TARGET).cof
346
	$(REMOVE) $(TARGET).elf
347
	$(REMOVE) $(TARGET).map
348
	$(REMOVE) $(TARGET).obj
349
	$(REMOVE) $(TARGET).a90
350
	$(REMOVE) $(TARGET).sym
351
	$(REMOVE) $(TARGET).lnk
352
	$(REMOVE) $(TARGET).lss
353
	$(REMOVE) $(OBJ)
354
	$(REMOVE) $(LST)
355
	$(REMOVE) $(SRC:.c=.s)
356
	$(REMOVE) $(SRC:.c=.d)
357
 
358
 
359
# Automatically generate C source code dependencies.
360
# (Code originally taken from the GNU make user manual and modified
361
# (See README.txt Credits).)
362
#
363
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
364
# (see the SHELL variable defined above).
365
# This may not work with other shells or other seds.
366
#
367
%.d: %.c
368
	set -e; $(CC) -MM $(ALL_CFLAGS) $< \
369
	| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
370
	[ -s $@ ] || rm -f $@
371
 
372
 
373
# Remove the '-' if you want to see the dependency files generated.
374
-include $(SRC:.c=.d)
375
 
376
 
377
 
378
# Listing of phony targets.
379
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
380
	clean clean_list program
381