From 7ef5ad5888ea2ad5464bfd034843f9c2cfe0faf0 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Mon, 16 Jan 2017 21:41:16 +0100 Subject: [PATCH] avr/motor_ctrl: set avr frequency to 5MHz --- avr/motor_ctrl/Makefile | 876 ++++++++++++++++++++-------------------- avr/motor_ctrl/main.c | 6 +- avr/motor_ctrl/main.hex | 4 +- 3 files changed, 443 insertions(+), 443 deletions(-) diff --git a/avr/motor_ctrl/Makefile b/avr/motor_ctrl/Makefile index 50995aa..2f12329 100644 --- a/avr/motor_ctrl/Makefile +++ b/avr/motor_ctrl/Makefile @@ -1,438 +1,438 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# WinAVR makefile written by Eric B. Weddington, Jörg Wunsch, et al. -# Released to the Public Domain -# Please read the make user manual! -# -# Additional material for this makefile was submitted by: -# Tim Henigan -# Peter Fleury -# Reiner Patommel -# Sander Pool -# Frederik Rouleau -# Markus Pfaff -# -# On command line: -# -# make all = Make software. -# -# make clean = Clean out built project files. -# -# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB). -# -# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio -# 4.07 or greater). -# -# make program = Download the hex file to the device, using avrdude. Please -# customize the avrdude settings below first! -# -# make filename.s = Just compile filename.c into the assembler code only -# -# To rebuild project do "make clean" then "make all". -# - -# mth 2004/09 -# Differences from WinAVR 20040720 sample: -# - DEPFLAGS according to Eric Weddingtion's fix (avrfreaks/gcc-forum) -# - F_OSC Define in CFLAGS and AFLAGS - - -# MCU name -MCU = atmega32 - -# Main Oscillator Frequency -# This is only used to define F_OSC in all assembler and c-sources. -F_OSC = 3686400 - -# Output format. (can be srec, ihex, binary) -FORMAT = ihex - -# Target file name (without extension). -TARGET = main - - -# List C source files here. (C dependencies are automatically generated.) -SRC = $(TARGET).c uart.c - - -# List Assembler source files here. -# Make them always end in a capital .S. Files ending in a lowercase .s -# will not be considered source files but generated files (assembler -# output from the compiler), and will be deleted upon "make clean"! -# Even though the DOS/Win* filesystem matches both .s and .S the same, -# it will preserve the spelling of the filenames, and gcc itself does -# care about how the name is spelled on its command-line. -ASRC = - - - -# Optimization level, can be [0, 1, 2, 3, s]. -# 0 = turn off optimization. s = optimize for size. -# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) -OPT = s - -# Debugging format. -# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. -# AVR (extended) COFF requires stabs, plus an avr-objcopy run. -DEBUG = stabs -#DEBUG = dwarf-2 - -# List any extra directories to look for include files here. -# Each directory must be seperated by a space. -EXTRAINCDIRS = - - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 - -# Place -D or -U options here -CDEFS = -DF_CPU=4000000 - -# Place -I options here -CINCS = -Ii2c/ - - -# Compiler flags. -# -g*: generate debugging information -# -O*: optimization level -# -f...: tuning, see GCC manual and avr-libc documentation -# -Wall...: warning level -# -Wa,...: tell GCC to pass this to the assembler. -# -adhlns...: create assembler listing -CFLAGS = -g$(DEBUG) -CFLAGS += $(CDEFS) $(CINCS) -CFLAGS += -O$(OPT) -CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -CFLAGS += -Wall -Wstrict-prototypes -CFLAGS += -Wa,-adhlns=$(<:.c=.lst) -CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -CFLAGS += $(CSTANDARD) -CFLAGS += -DF_OSC=$(F_OSC) - - - -# 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=$(<:.S=.lst),-gstabs -ASFLAGS += -DF_OSC=$(F_OSC) - - -#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 -lm - -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,-Tdata=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 = - -# 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 -LDFLAGS += $(EXTMEMOPTS) -LDFLAGS += $(PRINTF_LIB_MIN) $(SCANF_LIB) $(MATH_LIB) - - - - -# Programming support using avrdude. Settings and variables. - -# Programming hardware: alf avr910 avrisp bascom bsd -# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 -# -# Type: avrdude -c ? -# to get a full listing. -# -#AVRDUDE_PROGRAMMER = avr911 -AVRDUDE_PROGRAMMER = avrisp2 - -# com1 = serial port. Use lpt1 to connect to parallel port. -#AVRDUDE_PORT = /dev/ttyUSB0 # programmer connected to serial device -AVRDUDE_PORT = usb # programmer connected to serial device - -AVRDUDE_WRITE_FLASH = -U flash:w:$(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 -# to submit bug reports. -#AVRDUDE_VERBOSE = -v -v - -AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) -AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) -AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) - - - -# --------------------------------------------------------------------------- - -# 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 -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm -AVRDUDE = avrdude -REMOVE = rm -f -COPY = cp - - - - -# 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_ASSEMBLING = Assembling: -MSG_CLEANING = Cleaning project: - - - - -# Define all object files. -OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) - -# Define all listing files. -LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) - - -# Compiler flags to generate dependency files. -### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d -GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d - -# Combine all necessary flags and optional flags. -# Add target processor to flags. -ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) -ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) - - - - - -# Default target. -all: begin gccversion sizebefore build sizeafter finished end - -build: elf hex eep lss sym - -elf: $(TARGET).elf -hex: $(TARGET).hex -eep: $(TARGET).eep -lss: $(TARGET).lss -sym: $(TARGET).sym - - - -# 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. -HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex -ELFSIZE = $(SIZE) -A $(TARGET).elf -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 - - - -# Program the device. -program: $(TARGET).hex $(TARGET).eep - $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) - - - - -# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. -COFFCONVERT=$(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 - - - -# 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) $@ - $(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) $< - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -%.s : %.c - $(CC) -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) $(OBJ) - $(REMOVE) $(LST) - $(REMOVE) $(SRC:.c=.s) - $(REMOVE) $(SRC:.c=.d) - $(REMOVE) .dep/* - - - -# Include the dependency files. --include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) - - -# Listing of phony targets. -.PHONY : all begin finish end sizebefore sizeafter gccversion \ -build elf hex eep lss sym coff extcoff \ -clean clean_list program - +# Hey Emacs, this is a -*- makefile -*- +# +# WinAVR makefile written by Eric B. Weddington, Jörg Wunsch, et al. +# Released to the Public Domain +# Please read the make user manual! +# +# Additional material for this makefile was submitted by: +# Tim Henigan +# Peter Fleury +# Reiner Patommel +# Sander Pool +# Frederik Rouleau +# Markus Pfaff +# +# On command line: +# +# make all = Make software. +# +# make clean = Clean out built project files. +# +# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB). +# +# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio +# 4.07 or greater). +# +# make program = Download the hex file to the device, using avrdude. Please +# customize the avrdude settings below first! +# +# make filename.s = Just compile filename.c into the assembler code only +# +# To rebuild project do "make clean" then "make all". +# + +# mth 2004/09 +# Differences from WinAVR 20040720 sample: +# - DEPFLAGS according to Eric Weddingtion's fix (avrfreaks/gcc-forum) +# - F_OSC Define in CFLAGS and AFLAGS + + +# MCU name +MCU = atmega32 + +# Main Oscillator Frequency +# This is only used to define F_OSC in all assembler and c-sources. +F_OSC = 3686400 + +# Output format. (can be srec, ihex, binary) +FORMAT = ihex + +# Target file name (without extension). +TARGET = main + + +# List C source files here. (C dependencies are automatically generated.) +SRC = $(TARGET).c uart.c + + +# List Assembler source files here. +# Make them always end in a capital .S. Files ending in a lowercase .s +# will not be considered source files but generated files (assembler +# output from the compiler), and will be deleted upon "make clean"! +# Even though the DOS/Win* filesystem matches both .s and .S the same, +# it will preserve the spelling of the filenames, and gcc itself does +# care about how the name is spelled on its command-line. +ASRC = + + + +# Optimization level, can be [0, 1, 2, 3, s]. +# 0 = turn off optimization. s = optimize for size. +# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) +OPT = s + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs +#DEBUG = dwarf-2 + +# List any extra directories to look for include files here. +# Each directory must be seperated by a space. +EXTRAINCDIRS = + + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 + +# Place -D or -U options here +CDEFS = -DF_CPU=5000000 + +# Place -I options here +CINCS = -Ii2c/ + + +# Compiler flags. +# -g*: generate debugging information +# -O*: optimization level +# -f...: tuning, see GCC manual and avr-libc documentation +# -Wall...: warning level +# -Wa,...: tell GCC to pass this to the assembler. +# -adhlns...: create assembler listing +CFLAGS = -g$(DEBUG) +CFLAGS += $(CDEFS) $(CINCS) +CFLAGS += -O$(OPT) +CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +CFLAGS += -Wall -Wstrict-prototypes +CFLAGS += -Wa,-adhlns=$(<:.c=.lst) +CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) +CFLAGS += $(CSTANDARD) +CFLAGS += -DF_OSC=$(F_OSC) + + + +# 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=$(<:.S=.lst),-gstabs +ASFLAGS += -DF_OSC=$(F_OSC) + + +#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 -lm + +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,-Tdata=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 = + +# 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 +LDFLAGS += $(EXTMEMOPTS) +LDFLAGS += $(PRINTF_LIB_MIN) $(SCANF_LIB) $(MATH_LIB) + + + + +# Programming support using avrdude. Settings and variables. + +# Programming hardware: alf avr910 avrisp bascom bsd +# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 +# +# Type: avrdude -c ? +# to get a full listing. +# +#AVRDUDE_PROGRAMMER = avr911 +AVRDUDE_PROGRAMMER = avrisp2 + +# com1 = serial port. Use lpt1 to connect to parallel port. +#AVRDUDE_PORT = /dev/ttyUSB0 # programmer connected to serial device +AVRDUDE_PORT = usb # programmer connected to serial device + +AVRDUDE_WRITE_FLASH = -U flash:w:$(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 +# to submit bug reports. +#AVRDUDE_VERBOSE = -v -v + +AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) +AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) +AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) +AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) + + + +# --------------------------------------------------------------------------- + +# 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 +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +COPY = cp + + + + +# 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_ASSEMBLING = Assembling: +MSG_CLEANING = Cleaning project: + + + + +# Define all object files. +OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) + + +# Compiler flags to generate dependency files. +### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d +GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + + + + +# Default target. +all: begin gccversion sizebefore build sizeafter finished end + +build: elf hex eep lss sym + +elf: $(TARGET).elf +hex: $(TARGET).hex +eep: $(TARGET).eep +lss: $(TARGET).lss +sym: $(TARGET).sym + + + +# 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. +HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex +ELFSIZE = $(SIZE) -A $(TARGET).elf +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 + + + +# Program the device. +program: $(TARGET).hex $(TARGET).eep + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) + + + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(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 + + + +# 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) $@ + $(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) $< + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +%.s : %.c + $(CC) -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) $(OBJ) + $(REMOVE) $(LST) + $(REMOVE) $(SRC:.c=.s) + $(REMOVE) $(SRC:.c=.d) + $(REMOVE) .dep/* + + + +# Include the dependency files. +-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) + + +# Listing of phony targets. +.PHONY : all begin finish end sizebefore sizeafter gccversion \ +build elf hex eep lss sym coff extcoff \ +clean clean_list program + diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index a956587..d6422f1 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -1043,8 +1043,8 @@ int main(void) { TWI_RESET; // Motor 1 & 2 - // Also used for PWM frequency TIMER1_FREQ - // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz + // Also used for PWM frequency TIMER1_FREQ (F_CPU/256) + // Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz // Prescaler=1 //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10); // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1 @@ -1125,7 +1125,7 @@ int main(void) { motor4_mode = MOTOR_PID; } - if (run_update >= 156) { // TIMER1_FREQ/156 = ~100Hz + if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz run_update=0; update_pos(); diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index a06d454..426f9a4 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -173,7 +173,7 @@ :100AC000EF919F918F910F900FBE0F901F901895EF :100AD0009C018AB188618AB9579A80B5866080BDC9 :100AE000C901A0E0B0E09C01AD0184E0220F331FFA -:100AF000441F551F8A95D1F760E079E08DE390E0BF +:100AF000441F551F8A95D1F760E47BE48CE490E0B5 :100B00000E94B512DA01C9010197A109B109892F23 :100B10009A2FAB2FBB27A7FDBA9580BD215029B9CD :100B20008FEF90E09093FC008093FB009093FE0089 @@ -234,7 +234,7 @@ :100E900052E40E9459100AC0C501B4010E94CB104F :100EA0007093D7006093D600C701B6010E94CB10A3 :100EB0007093D3006093D200F1E0F093DF00F093E1 -:100EC000DE00F093DD00F093DC008091C9008C39E6 +:100EC000DE00F093DD00F093DC008091C900833CEC :100ED00008F449C71092C900F8942091E6003091B7 :100EE000E7003A8329834091E4005091E5005C8358 :100EF0004B838091E2009091E3009E838D83E0918B -- 2.39.2