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# CPU model
MCU=atmega2560
# CPU Frequency
F_CPU=16000000L
# Name of image to produce (can be arbitrary)
TARGET=firmware
# Serial port used for uploading
SERIAL=/dev/ttyACM0
BAUD=115200
# Toolchain flags
CC=avr-gcc
CFLAGS= -std=gnu99 -O2 -Wall -finline-functions -ffunction-sections -fdata-sections -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -mmcu=$(MCU) -DF_CPU=$(F_CPU)
LD=avr-gcc
LDFLAGS= -Wl,--gc-sections,--relax -mmcu=$(MCU)
AR=avr-ar
AS=avr-as
ASFLAGS=-mmcu=$(MCU)
OC=avr-objcopy
OCFLAGS=-O ihex -R .eeprom
AVRDUDE=avrdude
AVRDUDEFLAGS= -DV -p $(MCU) -P $(SERIAL) -c stk500v2 -b 115200
AVRSIZE=avr-size
CPP=avr-g++
CPPFLAGS= -O2 -Wall -fno-exceptions -ffunction-sections -fdata-sections -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -mmcu=$(MCU) -DF_CPU=$(F_CPU)
GDBINITFILE=gdb.conf
MODULES=collection sched time tshield bug serial
SOURCES=\
$(foreach module,$(MODULES),$(wildcard kernel/$(module)/*.S)) \
$(foreach module,$(MODULES),$(wildcard kernel/$(module)/*.c)) \
$(foreach module,$(MODULES),$(wildcard kernel/$(module)/mcu/$(MCU)/*.S)) \
$(foreach module,$(MODULES),$(wildcard kernel/$(module)/mcu/$(MCU)/*.c)) \
$(wildcard arduino/*.s) $(wildcard arduino/*.c) $(wildcard arduino/*.cpp) \
$(wildcard *.s) $(wildcard *.c) $(wildcard *.cpp)
OBJECTS=$(addsuffix .o, $(basename $(SOURCES)))
INCLUDES=\
$(foreach module, $(MODULES), kernel/$(module)/include) \
$(foreach module, $(MODULES), kernel/$(module)/mcu/$(MCU)/include)
ARDUINO_INCLUDES=arduino arduino/variants/mega
# Rules
all: target
target: $(TARGET).hex
$(TARGET).hex: $(TARGET).elf
$(OC) $(OCFLAGS) $< $@
$(TARGET).elf: $(OBJECTS)
$(LD) $(LDFLAGS) -o $@ $^
# Arduino sources need special includes
arduino/%.o: arduino/%.c
$(CC) $(CFLAGS) $(addprefix -I, $(ARDUINO_INCLUDES)) $(addprefix -I, $(INCLUDES)) -o $@ -c $<
arduino/%.o: arduino/%.cpp
$(CPP) $(CPPFLAGS) $(addprefix -I, $(ARDUINO_INCLUDES)) $(addprefix -I, $(INCLUDES)) -o $@ -c $<
# Kernel sources
kernel/%.o: kernel/%.S
$(CC) $(CFLAGS) -o $@ -c $<
kernel/%.o: kernel/%.c
$(CC) $(CFLAGS) -I$(dir $<) $(addprefix -I, $(INCLUDES)) -o $@ -c $<
# Local sources may use arduino and therfore need special includes
%.o: %.s
$(CC) $(CFLAGS) $(addprefix -I, $(ARDUINO_INCLUDES)) -I$(dir $<) $(addprefix -I, $(INCLUDES)) -o $@ -c $<
%.o: %.c
$(CC) $(CFLAGS) $(addprefix -I, $(ARDUINO_INCLUDES)) -I$(dir $<) $(addprefix -I, $(INCLUDES)) -o $@ -c $<
%.o: %.cpp
$(CPP) $(CPPFLAGS) $(addprefix -I, $(ARDUINO_INCLUDES)) -I$(dir $<) $(addprefix -I, $(INCLUDES)) -o $@ -c $<
# Utility rules
size: target
$(AVRSIZE) --format=avr --mcu=$(MCU) $(TARGET).elf
upload: target
$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(TARGET).hex:i
monitor:
cu -l $(SERIAL) -s $(BAUD) --parity=none -h
cycle:
@make clean && \
make > /dev/null && \
read -p "Press enter to proceed with upload..." nothing && \
make upload
clean:
@rm -f *.o
@for module in $(MODULES); do \
rm -f kernel/$$module/*.o; \
rm -f kernel/$$module/mcu/$(MCU)/*.o; \
done
@rm -f arduino/*.o
@rm -f $(TARGET).hex
@rm -f $(TARGET).elf
@rm -f $(GDBINITFILE)
# Debugging
ddd: gdbinit
ddd --debugger "avr-gdb -x $(GDBINITFILE)"
gdbserver: gdbinit
# run_avr -g -m $(MCU) -f $(F_CPU)
simulavr -p 1234 -d $(MCU) -F 16000000 -f $(TARGET).elf -g
gdbinit: $(GDBINITFILE)
$(GDBINITFILE): $(TARGET).elf
@echo "file $(TARGET).elf" > $(GDBINITFILE)
@echo "target remote localhost:1234" >> $(GDBINITFILE)
@echo "load" >> $(GDBINITFILE)
@echo "break main.c:main" >> $(GDBINITFILE)
@echo
@echo "Use 'avr-gdb -x $(GDBINITFILE)'"
.PHONY: clean cycle
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