inspektors/robot/Makefile

# AVR-GCC Makefile template, derived from the WinAVR template (which
# is public domain), believed to be neutral to any flavor of "make"
# (GNU make, BSD make, SysV make)

SRC_DIR = src
BUILD_DIR = build
INC_DIR = include
OBJ_DIR = obj

# Common lib
COMMON_LIB = -lcommon
COMMON_LIB_DIR = ../common/lib
COMMON_INC_DIR = ../common/include

MCU = atmega328p
FORMAT = ihex
TARGET = main
SRC = $(wildcard $(SRC_DIR)/*.c)
OBJ = $(SRC:$(SRC_DIR)/%.c=$(OBJ_DIR)/%.o)
LST = $(SRC:$(SRC_DIR)/%.c=$(BUILD_DIR)/%.lst)

# Compiler flag to set the C Standard level.
# c89   - "ANSI" C
# gnu89 - c89 plus GCC extensions
# c99   - ISO C99 standard (not yet fully implemented)
# gnu99 - c99 plus GCC extensions
CSTANDARD = -std=gnu99

# Place -D or -U options here
CDEFS = -DF_CPU=16000000L -D__AVR__ -D__AVR_ATmega328P__

# Place -I options here
CINCS = -I /usr/avr/include -I /usr/lib/gcc/avr/7.2.0/include \
		-I $(COMMON_INC_DIR) -I $(INC_DIR)

CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
CFLAGS = $(CTUNING) $(CDEFS) $(CINCS) $(CSTANDARD) $(CEXTRA)

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

# Debugging format.
# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
DEBUG_FORMAT = stabs

ifeq ($(BUILD),debug)
	CFLAGS += -DDEBUG -g$(DEBUG_FORMAT)
	CFLAGS += -Wall -Wextra -Wformat=2 -Wswitch-default \
			  -Wcast-align -Wpointer-arith -Wbad-function-cast \
			  -Wstrict-prototypes -Winline -Wundef -Wnested-externs \
			  -Wcast-qual -Wshadow -Wwrite-strings -Wconversion \
			  -Winit-self -Wstrict-aliasing -Wmissing-declarations \
			  -Wmissing-include-dirs -Wno-unused-parameter -Wuninitialized \
			  -Wold-style-definition -Wmissing-prototypes -Wunreachable-code \
			  -Wno-unused-but-set-variable -Wmaybe-uninitialized
	CINCS += -I /usr/include/simavr
	#
else
	CFLAGS += -DNDEBUG -s -Os
endif


#Additional libraries.

# Minimalistic printf version
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min

# Floating point printf version (requires MATH_LIB = -lm below)
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt

PRINTF_LIB =

# Minimalistic scanf version
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min

# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt

SCANF_LIB =

MATH_LIB = -lm

# External memory options

# 64 KB of external RAM, starting after internal RAM (ATmega128!),
# used for variables (.data/.bss) and heap (malloc()).
#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff

# 64 KB of external RAM, starting after internal RAM (ATmega128!),
# only used for heap (malloc()).
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff

EXTMEMOPTS =

#LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref
# LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
LDFLAGS = -L$(COMMON_LIB_DIR) $(COMMON_LIB)

# Programming support using avrdude. Settings and variables.

AVRDUDE_PROGRAMMER = usbasp
AVRDUDE_PORT = usb

AVRDUDE_WRITE_FLASH = -U flash:w:$(BUILD_DIR)/$(TARGET).hex
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep


# 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_COUNTER = -y

# Uncomment the following if you do /not/ wish a verification to be
# performed after programming the device.
AVRDUDE_NO_VERIFY = -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_VERBOSE = -v -v

AVRDUDE_BASIC = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
AVRDUDE_FLAGS = $(AVRDUDE_BASIC) $(AVRDUDE_NO_VERIFY) $(AVRDUDE_VERBOSE) \
				$(AVRDUDE_ERASE_COUNTER)


CC = avr-gcc
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
NM = avr-nm
AVRDUDE = avrdude
REMOVE = rm -rf
MV = mv -f

# Combine all necessary flags and optional flags.
# Add target processor to flags.
ALL_CFLAGS = -mmcu=$(MCU) $(CFLAGS)


# Default target.
all: build

build: elf hex eep lss sym

elf: $(BUILD_DIR)/$(TARGET).elf
hex: $(BUILD_DIR)/$(TARGET).hex
eep: $(BUILD_DIR)/$(TARGET).eep
lss: $(BUILD_DIR)/$(TARGET).lss
sym: $(BUILD_DIR)/$(TARGET).sym


# Program the device.
program: $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).eep
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)


debug:
	make "BUILD=debug"


# 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: $(BUILD_DIR)/$(TARGET).elf
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof


extcoff: $(BUILD_DIR)/$(TARGET).elf
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof


.SUFFIXES: .elf .hex .eep .lss .sym

%.hex: %.elf
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

%.eep: %.elf
	$(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
	$(OBJDUMP) -h -S $< > $@

# Create a symbol table from ELF output file.
%.sym: %.elf
	$(NM) -n $< > $@



# Link: create ELF output file from object files.
.SECONDARY: $(OBJ)
$(BUILD_DIR)/%.elf: $(OBJ)
	@mkdir -p $(@D)
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)


# Compile: create object files from C source files.
$(OBJ_DIR)/%.o : $(SRC_DIR)/%.c
	@mkdir -p $(@D)
	$(CC) -c $(ALL_CFLAGS) $< -o $@


# Target: clean project.
clean:
	$(REMOVE) $(BUILD_DIR)/* $(OBJ_DIR)/*

.PHONY:	all build elf hex eep lss sym program coff extcoff clean depend