Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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206 lines
4.6 KiB
206 lines
4.6 KiB
PROJECT_NAME = $(PWD:B) ;
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PROJECT_DIR = . ;
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PROJECT_LIBS = SPI RF24 ;
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OUT_DIR = ojam ;
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F_CPU = 16000000 ;
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MCU = atmega328p ;
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PORTS = /dev/tty.usbserial-A600eHIs /dev/tty.usbserial-A40081RP /dev/tty.usbserial-A9007LmI ;
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UPLOAD_RATE = 57600 ;
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AVRDUDE_PROTOCOL = stk500v1 ;
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COM = 33 ;
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# Host-specific overrides for locations
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if $(OS) = MACOSX
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{
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ARDUINO_VERSION = 22 ;
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OLD_DIR = /opt/arduino-0021 ;
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AVR_TOOLS_PATH = $(OLD_DIR)/hardware/tools/avr/bin ;
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AVRDUDECONFIG_PATH = $(OLD_DIR)/hardware/tools/avr/etc ;
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ARDUINO_DIR = /opt/Arduino ;
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ARDUINO_AVR = /usr/lib/avr/include ;
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}
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# Where is everything?
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ARDUINO_VERSION ?= 22 ;
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AVR_TOOLS_PATH ?= /usr/bin ;
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ARDUINO_DIR ?= /opt/arduino-00$(ARDUINO_VERSION) ;
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ARDUINO_AVR ?= $(ARDUINO_DIR)/hardware/tools/avr/avr/include/avr ;
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AVRDUDECONFIG_PATH ?= $(ARDUINO_DIR)/hardware/tools ;
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ARDUINO_CORE = $(ARDUINO_DIR)/hardware/arduino/cores/arduino ;
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ARDUINO_LIB = $(ARDUINO_DIR)/libraries ;
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SKETCH_LIB = $(HOME)/Source/Arduino/libraries ;
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AVR_CC = $(AVR_TOOLS_PATH)/avr-gcc ;
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AVR_CXX = $(AVR_TOOLS_PATH)/avr-g++ ;
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AVR_LD = $(AVR_TOOLS_PATH)/avr-gcc ;
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AVR_OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy ;
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AVRDUDE = $(AVR_TOOLS_PATH)/avrdude ;
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DEFINES = F_CPU=$(F_CPU)L ARDUINO=$(ARDUINO_VERSION) VERSION_H ;
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CTUNING = -ffunction-sections -fdata-sections ;
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CXXTUNING = -fno-exceptions -fno-strict-aliasing ;
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CFLAGS = -Os -Wall -Wextra -mmcu=$(MCU) $(CTUNING) ;
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CXXFLAGS = $(CFLAGS) $(CXXTUNING) ;
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LDFLAGS = -Os -lm -Wl,--gc-sections -mmcu=atmega328p ;
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# Search everywhere for headers
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HDRS = $(PROJECT_DIR) $(ARDUINO_AVR) $(ARDUINO_CORE) [ GLOB $(ARDUINO_LIB) $(SKETCH_LIB) : [^.]* ] ;
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# Grab everything from the core directory
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CORE_MODULES = [ GLOB $(ARDUINO_CORE) : *.c *.cpp ] ;
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# Grab everything from libraries. To avoid this "grab everything" behaviour, you
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# can specify specific modules to pick up in PROJECT_MODULES
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LIB_MODULES = [ GLOB $(ARDUINO_LIB)/$(PROJECT_LIBS) $(SKETCH_LIB)/$(PROJECT_LIBS) : *.cpp ] ;
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# In addition to explicitly-specified program modules, pick up anything from the current
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# dir.
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PROJECT_MODULES += [ GLOB $(PROJECT_DIR) : *.c *.cpp *.pde ] ;
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# Shortcut for the out files
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OUT = $(OUT_DIR)/$(PROJECT_NAME) ;
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# AvrDude setup
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AVRDUDE_FLAGS = -V -F -D -C $(AVRDUDECONFIG_PATH)/avrdude.conf -p $(MCU) -c $(AVRDUDE_PROTOCOL) -b $(UPLOAD_RATE) ;
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rule GitVersion
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{
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Always $(<) ;
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Depends all : $(<) ;
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}
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actions GitVersion
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{
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echo "const char program_version[] = \"\\" > $(<)
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git log -1 --pretty=format:%h >> $(<)
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echo "\";" >> $(<)
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}
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GitVersion version.h ;
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rule AvrCc
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{
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Depends $(<) : $(>) ;
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Depends $(<) : $(<:D) ;
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Clean clean : $(<) ;
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CCHDRS on $(<) = [ on $(<) FIncludes $(HDRS) ] ;
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CCDEFS on $(<) = [ on $(<) FDefines $(DEFINES) ] ;
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}
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actions AvrCc
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{
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$(AVR_CC) -c -o $(<) $(CCHDRS) $(CCDEFS) $(CFLAGS) $(>)
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}
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rule AvrC++
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{
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Depends $(<) : $(>) ;
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Depends $(<) : $(<:D) ;
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Clean clean : $(<) ;
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CCHDRS on $(<) = [ on $(<) FIncludes $(HDRS) ] ;
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CCDEFS on $(<) = [ on $(<) FDefines $(DEFINES) ] ;
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}
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actions AvrC++
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{
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$(AVR_CXX) -c -o $(<) $(CCHDRS) $(CCDEFS) $(CXXFLAGS) $(>)
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}
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rule Pde
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{
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Depends $(<) : $(>) ;
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Depends $(<) : $(<:D) ;
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Clean clean : $(<) ;
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}
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actions Pde
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{
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echo "#include <WProgram.h>" > $(<)
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echo "#line 1 \"$(>)\"" >> $(<)
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cat $(>) >> $(<)
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}
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rule AvrPde
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{
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local _CPP = $(OUT_DIR)/$(_I:B).cpp ;
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Pde $(_CPP) : $(>) ;
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AvrC++ $(<) : $(_CPP) ;
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}
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rule AvrObject
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{
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switch $(>:S)
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{
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case .c : AvrCc $(<) : $(>) ;
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case .cpp : AvrC++ $(<) : $(>) ;
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case .pde : AvrPde $(<) : $(>) ;
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}
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}
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rule AvrObjects
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{
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for _I in $(<)
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{
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AvrObject $(OUT_DIR)/$(_I:B).o : $(_I) ;
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}
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}
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rule AvrMainFromObjects
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{
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Depends $(<) : $(>) ;
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Depends $(<) : $(<:D) ;
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MkDir $(<:D) ;
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Depends all : $(<) ;
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Clean clean : $(<) ;
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}
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actions AvrMainFromObjects
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{
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$(AVR_LD) $(LDFLAGS) -o $(<) $(>)
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}
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rule AvrMain
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{
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AvrMainFromObjects $(<) : $(OUT_DIR)/$(>:B).o ;
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AvrObjects $(>) ;
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}
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rule AvrHex
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{
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Depends $(<) : $(>) ;
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Depends $(<) : $(<:D) ;
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Depends hex : $(<) ;
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Clean clean : $(<) ;
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}
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actions AvrHex
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{
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$(AVR_OBJCOPY) -O ihex -R .eeprom $(>) $(<)
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}
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rule AvrUpload
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{
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Depends $(1) : $(2) ;
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Depends $(2) : $(3) ;
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NotFile $(1) ;
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Always $(1) ;
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Always $(2) ;
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AvrUploadAction $(2) : $(3) ;
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}
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actions AvrUploadAction
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{
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$(AVRDUDE) $(AVRDUDE_FLAGS) -P $(<) $(AVRDUDE_WRITE_FLASH) -U flash:w:$(>):i
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}
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AvrMain $(OUT).elf : $(CORE_MODULES) $(LIB_MODULES) $(PROJECT_MODULES) ;
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AvrHex $(OUT).hex : $(OUT).elf ;
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AvrUpload p6 : /dev/tty.usbserial-A600eHIs : $(OUT).hex ;
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AvrUpload p4 : /dev/tty.usbserial-A40081RP : $(OUT).hex ;
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AvrUpload p9 : /dev/tty.usbserial-A9007LmI : $(OUT).hex ;
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