Subversion Repositories FlightCtrl

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

# MCU name

MCU = atmega644p

F_CPU = 20000000UL

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

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

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

#OPTIONS

# Use one of the extensions for a gps solution

#EXT = DIRECT_GPS

#EXT = MK3MAG

EXT =

#GYRO=ENC-03_FC1.3

#GYRO_HW_NAME=ENC

#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=70.405f

GYRO_XY_CORRECTION=1.0f

GYRO_Z_CORRECTION=1.0f

#GYRO=invenSense

#GYRO_HW_NAME=Isense

#GYRO_HW_FACTOR=39.114f

#GYRO_PITCHROLL_CORRECTION=1.0f

#GYRO_YAW_CORRECTION=1.0f

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

# get SVN revision

REV=0001

#$(shell sh -c "cat .svn/entries | sed -n '4p'")

ifeq ($(MCU), atmega644)

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

 HEX_NAME = MEGA644_$(EXT)_$(GYRO)

endif

ifeq ($(MCU), atmega644p)

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

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

endif

ifeq ($(F_CPU), 20000000)

 QUARZ = 20MHZ

endif

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

FORMAT = ihex

# Target file name (without extension).

ifeq ($(VERSION_PATCH), 0)

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

endif

ifeq ($(VERSION_PATCH), 1)

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

endif

ifeq ($(VERSION_PATCH), 2)

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

OPT = 2

#OPT = s

##########################################################################################################

# List C source files here. (C dependencies are automatically generated.)

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

ifeq ($(EXT), MK3MAG)

SRC += mk3mag.c

endif

##########################################################################################################

# List Assembler source files here.

# Make them always end in a capital .S.  Files ending in a lowercase .s

# will not be considered source files but generated files (assembler

# output from the compiler), and will be deleted upon "make clean"!

# Even though the DOS/Win* filesystem matches both .s and .S the same,

# it will preserve the spelling of the filenames, and gcc itself does

# care about how the name is spelled on its command-line.

ASRC = isqrt.S

# List any extra directories to look for include files here.

#     Each directory must be seperated by a space.

EXTRAINCDIRS =

# Optional compiler flags.

#  -g:        generate debugging information (for GDB, or for COFF conversion)

#  -O*:       optimization level

#  -f...:     tuning, see gcc manual and avr-libc documentation

#  -Wall...:  warning level

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

#    -ahlms:  create assembler listing

CFLAGS = -O$(OPT) \

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

-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.

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

#CFLAGS += -std=c89

#CFLAGS += -std=gnu89

#CFLAGS += -std=c99

#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}

ifeq ($(EXT), DIRECT_GPS)

 CFLAGS += -DUSE_DIRECT_GPS

 CFLAGS += -DUSE_MK3MAG

endif

ifeq ($(EXT), MK3MAG)

 CFLAGS += -DUSE_MK3MAG

endif

ifeq ($(SETUP), QUADRO)

 CFLAGS += -DUSE_QUADRO

endif

ifeq ($(SETUP), OCTO)

 CFLAGS += -DUSE_OCTO

endif

ifeq ($(SETUP), OCTO2)

 CFLAGS += -DUSE_OCTO2

endif

ifeq ($(SETUP), OCTO3)

 CFLAGS += -DUSE_OCTO3

endif

# Optional assembler flags.

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

#  -ahlms:    create listing

#  -gstabs:   have the assembler create line number information; note that

#             for use in COFF files, additional information about filenames

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

#             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

#  --cref:    add cross reference to  map file

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

# Minimalistic printf version

#LDFLAGS += -Wl,-u,vfprintf -lprintf_min

# -lm = math library

LDFLAGS += -lc

LDFLAGS += -lm

##LDFLAGS += -T./linkerfile/avr5.x

# Programming support using avrdude. Settings and variables.

# Programming hardware: alf avr910 avrisp bascom bsd

# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500

#

# Type: avrdude -c ?

# to get a full listing.

#

#AVRDUDE_PROGRAMMER = dt006

#AVRDUDE_PROGRAMMER = stk200

#AVRDUDE_PROGRAMMER = ponyser

AVRDUDE_PROGRAMMER = avrispv2

#AVRDUDE_PROGRAMMER = usbtiny

#falls Ponyser ausgewaehlt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden

#AVRDUDE_PORT = com1    # programmer connected to serial device

#AVRDUDE_PORT = lpt1    # programmer connected to parallel port

AVRDUDE_PORT = usb

# programmer connected to USB

#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex

AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS)

#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep

AVRDUDE_READ_EEPROM = -U eeprom:r:eeprom.eep:i

# Make a dummy read in order to cycle the reset pin on the MCU.

AVRDUDE_RESET = -u -U lfuse:r:m

#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex

AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -B 1

# Uncomment the following if you want avrdude's erase cycle counter.

# Note that this counter needs to be initialized first using -Yn,

# see avrdude manual.

#AVRDUDE_ERASE += -y

# Uncomment the following if you do /not/ wish a verification to be

# performed after programming the device.

AVRDUDE_FLAGS += -V

# Increase verbosity level.  Please use this when submitting bug

# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>

# to submit bug reports.

#AVRDUDE_FLAGS += -v -v

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

# Define directories, if needed.

DIRAVR = c:/winavr

DIRAVRBIN = $(DIRAVR)/bin

DIRAVRUTILS = $(DIRAVR)/utils/bin

DIRINC = .

DIRLIB = $(DIRAVR)/avr/lib

# Define programs and commands.

SHELL = sh

CC = avr-gcc

#avr-gcc

CPPC = avr-g++

OBJCOPY = avr-objcopy

OBJDUMP = avr-objdump

SIZE = avr-size

# Programming support using avrdude.

AVRDUDE = avrdude

REMOVE = rm -f

COPY = cp

HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex

ELFSIZE = $(SIZE) -A $(TARGET).elf

# Define Messages

# English

MSG_ERRORS_NONE = Errors: none

MSG_BEGIN = -------- begin --------

MSG_END = --------  end  --------

MSG_SIZE_BEFORE = Size before:

MSG_SIZE_AFTER = Size after:

MSG_COFF = Converting to AVR COFF:

MSG_EXTENDED_COFF = Converting to AVR Extended COFF:

MSG_FLASH = Creating load file for Flash:

MSG_EEPROM = Creating load file for EEPROM:

MSG_EXTENDED_LISTING = Creating Extended Listing:

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.

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.

#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.

begin:

	@echo

	@echo $(MSG_BEGIN)

finished:

	@echo $(MSG_ERRORS_NONE)

end:

	@echo $(MSG_END)

	@echo

# Display size of file.

sizebefore:

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

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 \

	--change-section-address .data-0x800000 \

	--change-section-address .bss-0x800000 \

	--change-section-address .noinit-0x800000 \

	--change-section-address .eeprom-0x810000

coff: $(TARGET).elf

	@echo

	@echo $(MSG_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof

extcoff: $(TARGET).elf

	@echo

	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof

# Program the device.

program: $(TARGET).hex $(TARGET).eep

	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)

# Program the device.

readeep:

	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_READ_EEPROM)

reset:

	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_RESET)

# Create final output files (.hex, .eep) from ELF output file.

%.hex: %.elf

	@echo

	@echo $(MSG_FLASH) $@

	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

%.eep: %.elf

	@echo

	@echo $(MSG_EEPROM) $@

	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \

	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@

# Create extended listing file from ELF output file.

%.lss: %.elf

	@echo

	@echo $(MSG_EXTENDED_LISTING) $@

	$(OBJDUMP) -h -S $< > $@

# Create a symbol table from ELF output file.

%.sym: %.elf

	@echo

	@echo $(MSG_SYMBOL_TABLE) $@

	avr-nm -n $< > $@

# Link: create ELF output file from object files.

.SECONDARY : $(TARGET).elf

.PRECIOUS : $(OBJ)

%.elf: $(OBJ)

	@echo

	@echo $(MSG_LINKING) $@

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

# Compile: create object files from C source files.

%.o : %.c

	@echo

	@echo $(MSG_COMPILING) $<

	$(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

	@echo

	@echo $(MSG_ASSEMBLING) $<

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

# Target: clean project.

clean: begin clean_list finished end

clean_list :

	@echo

	@echo $(MSG_CLEANING)

	$(REMOVE) $(TARGET).hex

	$(REMOVE) $(TARGET).eep

	$(REMOVE) $(TARGET).obj

	$(REMOVE) $(TARGET).cof

	$(REMOVE) $(TARGET).elf

	$(REMOVE) $(TARGET).map

	$(REMOVE) $(TARGET).obj

	$(REMOVE) $(TARGET).a90

	$(REMOVE) $(TARGET).sym

	$(REMOVE) $(TARGET).lnk

	$(REMOVE) $(TARGET).lss

	$(REMOVE) $(GENOBJ)

	$(REMOVE) $(LST)

	$(REMOVE) $(SRC:.c=.s)

	$(REMOVE) $(SRC:.c=.d)

# Automatically generate C source code dependencies.

# (Code originally taken from the GNU make user manual and modified

# (See README.txt Credits).)

#

# Note that this will work with sh (bash) and sed that is shipped with WinAVR

# (see the SHELL variable defined above).

# This may not work with other shells or other seds.

#

%.d: %.c

	set -e; $(CC) -MM $(ALL_CFLAGS) $< \

	| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \

	[ -s $@ ] || rm -f $@

# Remove the '-' if you want to see the dependency files generated.

-include $(SRC:.c=.d)

# Listing of phony targets.

.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \

	clean clean_list program