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Thema: RP6Base: Library für 8 Servos

  1. #1
    Erfahrener Benutzer Robotik Einstein Avatar von Dirk
    Registriert seit
    30.04.2004
    Ort
    NRW
    Beiträge
    3.791

    RP6Base: Library für 8 Servos

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    Hallo Leute,

    hier meine einfache Lib für den RP6, um max. 8 Servos betreiben zu können.

    Have fun!

    Demoprogramm:
    Code:
    // Uncommented Version of RP6BaseServo.c
    // written by Dirk
    // ------------------------------------------------------------------------------------------
    
    #include "RP6BaseServoLib.h"
    
    uint16_t pos = 0;
    
    int main(void)
    {
    	initRobotBase();
    	
    	writeString_P("\n\n   _______________________\n");
    	writeString_P("   \\| RP6  ROBOT SYSTEM |/\n");
    	writeString_P("    \\_-_-_-_-_-_-_-_-_-_/\n\n");
    
    	writeString_P("################\n");
    	writeString_P("<<RP6     Base>>\n");
    	writeString_P(" Servo - Test 1 \n");
    	writeString_P("  Version 1.20  \n");
    	writeString_P("################\n\n");
    	mSleep(2500);
    
    	setLEDs(0b111111);
    	mSleep(500);
    
    	initSERVO(SERVO1 | SERVO2);
    
    	startStopwatch2();
    	
    	while(true)  
    	{
    		if (getStopwatch2() > 48) {
    			servo1_position = pos;
    			servo2_position = pos;
    			pos++;
    			if (pos > RIGHT_TOUCH) {pos = 0;}
    			setStopwatch2(0);
    		}
    
    		task_SERVO();
    		task_RP6System();
    	}
    	return 0;
    }
    Header-Datei (RP6BaseServoLib.h):
    Code:
    /* ****************************************************************************
     *                           _______________________
     *                           \| RP6  ROBOT SYSTEM |/
     *                            \_-_-_-_-_-_-_-_-_-_/         >>> BASE CONTROLLER
     * ----------------------------------------------------------------------------
     * ------------------------ [c]2008 - Dirk ------------------------------------
     * ****************************************************************************
     * File: RP6BaseServoLib.h
     * Version: 1.2
     * Target: RP6 Base - ATMEGA32 @8.00MHz
     * Author(s): Dirk
     * ****************************************************************************
     * Description:
     * This is the RP6BaseServoLib header file.
     * You have to include this file, if you want to use the library
     * RP6BaseServoLib.c in your own projects.
     *
     * ****************************************************************************
     * THE CHANGELOG CAN BE FOUND AT THE END OF THIS FILE!
     * ****************************************************************************
     */
     
    /*****************************************************************************/
    // Includes:
    
    #include "RP6RobotBaseLib.h" 	// The RP6 Robot Base Library.
    								// Always needs to be included!
    
    /*****************************************************************************/
    // Defines:
    
    // Servo constants:
    #define SERVO1				0b00000001
    #define SERVO2				0b00000010
    #define SERVO3				0b00000100
    #define SERVO4				0b00001000
    #define SERVO5				0b00010000
    #define SERVO6				0b00100000
    #define SERVO7				0b01000000
    #define SERVO8				0b10000000
    
    // Servo movement limits (depending on servo type):
    // Standard Servos need an impulse every 20ms (50Hz). This impulse must have
    // a length of 1ms (0.7 .. 1ms) to move the servo lever to the left touch
    // and a length of 2ms (2 .. 2.3ms) for moving it to the right touch. In the
    // middle position the servo needs an impulse length of 1.5ms (1.3 .. 1.6ms).
    // If you want to modify the following constants for a certain servo type,
    // you must adapt the LEFT_TOUCH constant first (values ~690 .. 990 = ~0.7 ..
    // 1ms) by using a servo position value (servoX_position) of zero.
    // After that you have two "screws" to adjust the servo movement limits:
    // First you may change the RIGHT_TOUCH constant. If you choose a higher
    // value than 255, you will use 16-bit values. Higher values mean a longer
    // impulse length, but longer impulses than 2.3ms do not make sense.
    // Second you may alter the number of nop() instructions in the pulseSERVO()
    // function. Less nop()s lead to smaller steps of the servo movement. This of
    // course reduces the impulse length and may be compensated again by a higher
    // RIGHT_TOUCH constant.
    #define LEFT_TOUCH			692			// Left servo touch      (~0.7ms)
    #define RIGHT_TOUCH			254			// Right servo touch     (~2.3ms)
    #define MIDDLE_POSITION		(RIGHT_TOUCH / 2) // Middle position (~1.5ms)
    #define PULSE_REPETITION	17			// Pulse repetition freq. (~50Hz)
    
    // Servo ports:
    #define SERVO1_PULSE_ON		(PORTC |= SL1)		// PC4
    #define SERVO1_PULSE_OFF	(PORTC &= ~SL1)
    #define SERVO2_PULSE_ON		(PORTC |= SL2)		// PC5
    #define SERVO2_PULSE_OFF	(PORTC &= ~SL2)
    #define SERVO3_PULSE_ON		(PORTC |= SL3)		// PC6
    #define SERVO3_PULSE_OFF	(PORTC &= ~SL3)
    #define SERVO4_PULSE_ON		(PORTB |= SL4)		// PB7
    #define SERVO4_PULSE_OFF	(PORTB &= ~SL4)
    #define SERVO5_PULSE_ON		(PORTB |= SL5)		// PB1
    #define SERVO5_PULSE_OFF	(PORTB &= ~SL5)
    #define SERVO6_PULSE_ON		(PORTB |= SL6)		// PB0
    #define SERVO6_PULSE_OFF	(PORTB &= ~SL6)
    #define SERVO7_PULSE_ON		(PORTC |= SCL)		// PC0
    #define SERVO7_PULSE_OFF	(PORTC &= ~SCL)
    #define SERVO8_PULSE_ON		(PORTC |= SDA)		// PC1
    #define SERVO8_PULSE_OFF	(PORTC &= ~SDA)
    // -----------------------------------------------------------
    // Other possible ports for connecting Servos to RP6Base:
    //#define SERVOx_PULSE_ON		(PORTA |= ADC0)		// PA0
    //#define SERVOx_PULSE_OFF	(PORTA &= ~ADC0)
    //#define SERVOx_PULSE_ON		(PORTA |= ADC1)		// PA1
    //#define SERVOx_PULSE_OFF	(PORTA &= ~ADC1)
    //#define SERVOx_PULSE_ON		(PORTA |= E_INT1)	// PA4
    //#define SERVOx_PULSE_OFF	(PORTA &= ~E_INT1)
    // -----------------------------------------------------------
    
    /*****************************************************************************/
    // Variables:
    
    uint16_t servo1_position;		// Servo 1 position [0..RIGHT_TOUCH]
    uint16_t servo2_position;		// Servo 2 position [0..RIGHT_TOUCH]
    uint16_t servo3_position;		// Servo 3 position [0..RIGHT_TOUCH]
    uint16_t servo4_position;		// Servo 4 position [0..RIGHT_TOUCH]
    uint16_t servo5_position;		// Servo 5 position [0..RIGHT_TOUCH]
    uint16_t servo6_position;		// Servo 6 position [0..RIGHT_TOUCH]
    uint16_t servo7_position;		// Servo 7 position [0..RIGHT_TOUCH]
    uint16_t servo8_position;		// Servo 8 position [0..RIGHT_TOUCH]
    
    /*****************************************************************************/
    // Functions:
    
    void initSERVO(uint8_t servos);
    void startSERVO(void);
    void stopSERVO(void);
    void pulseSERVO(void);
    void task_SERVO(void);
    
    /******************************************************************************
     * Additional info
     * ****************************************************************************
     * Changelog:
     * - v. 1.0 (initial release) 03.05.2008 by Dirk
     * - v. 1.1 (bugs fixed) 21.12.2008 by Dirk
     * - v. 1.2 (pulse generation improved) 26.12.2008 by Dirk
     *
     * ****************************************************************************
     */
    
    /*****************************************************************************/
    // EOF
    Bibliothek (RP6BaseServoLib.c):
    Code:
    /* ****************************************************************************
     *                           _______________________
     *                           \| RP6  ROBOT SYSTEM |/
     *                            \_-_-_-_-_-_-_-_-_-_/         >>> BASE CONTROLLER
     * ----------------------------------------------------------------------------
     * ------------------------ [c]2008 - Dirk ------------------------------------
     * ****************************************************************************
     * File: RP6BaseServoLib.c
     * Version: 1.2
     * Target: RP6 Base - ATMEGA32 @8.00MHz
     * Author(s): Dirk
     * ****************************************************************************
     * Description:
     * This is my simple RP6 Base Servo Library for up to 8 Servos.
     *
     * COMMENT: It is a good idea to use a separate power supply for the servos!
     *
     * Servo connections:
     *         SERVO1 -> Status LED 1 (SL1)		SERVO5 -> Status LED 5 (SL5)
     *         SERVO2 -> Status LED 2 (SL2)		SERVO6 -> Status LED 6 (SL6)
     *         SERVO3 -> Status LED 3 (SL3)		SERVO7 -> PC0 (I2C bus: SCL)
     *         SERVO4 -> Status LED 4 (SL4)		SERVO8 -> PC1 (I2C bus: SDA)
     *   If you want to use the RP6 bumpers in your program, you should not
     *   connect Servos to SL3 and SL6.
     *   It is not possible to use the I2C bus, if Servos are connected to SCL
     *   and/or SDA. Instead of SCL/SDA you could use ADC0/ADC1 for servo 7/8,
     *   if you want to use the I2C bus.
     *
     * ****************************************************************************
     * ATTENTION: Stopwatch 1 is used for the servo task! Please do
     *            not use this stopwatch elsewhere in your program!
     *
     * ****************************************************************************
     * THE CHANGELOG CAN BE FOUND AT THE END OF THIS FILE!
     * ****************************************************************************
     */
     
    /*****************************************************************************/
    // Includes:
    
    #include "RP6BaseServoLib.h"
    
    /*****************************************************************************/
    // Variables:
    
    uint8_t usedservos;
    uint8_t servo_on = FALSE;
    
    /*****************************************************************************/
    // Functions:
    
    /**
     * INIT SERVO
     *
     * Call this once before using the servo library.
     *
     * Input:  Servos -> Used Servos
     *         Examples:
     *         - initSERVO(SERVO1 | SERVO2) -> Use only Servos 1 and 2
     *         - initSERVO(SERVO1 | SERVO6) -> Use only Servos 1 and 6
     *         - initSERVO(SERVO1 | SERVO2 | SERVO8) -> Use Servos 1, 2 and 8
     *
     */
    void initSERVO(uint8_t servos)
    {
    	setLEDs(0b000000);					// All LEDs off!
    	usedservos = servos;				// Save used Servos
    	if (servos & SERVO1) {DDRC |= SL1; PORTC &= ~SL1;}
    	if (servos & SERVO2) {DDRC |= SL2; PORTC &= ~SL2;}
    	if (servos & SERVO3) {DDRC |= SL3; PORTC &= ~SL3;}
    	if (servos & SERVO4) {DDRB |= SL4; PORTB &= ~SL4;}
    	if (servos & SERVO5) {DDRB |= SL5; PORTB &= ~SL5;}
    	if (servos & SERVO6) {DDRB |= SL6; PORTB &= ~SL6;}
    	if (servos & SERVO7) {DDRC |= SCL; PORTC &= ~SCL;}
    	if (servos & SERVO8) {DDRC |= SDA; PORTC &= ~SDA;}
    // -----------------------------------------------------------
    // Other possible ports for connecting Servos to RP6Base:
    //	if (servos & SERVOx) {DDRA |= ADC0; PORTA &= ~ADC0;}
    //	if (servos & SERVOx) {DDRA |= ADC1; PORTA &= ~ADC1;}
    //	if (servos & SERVOx) {DDRA |= E_INT1; PORTA &= ~E_INT1;}
    // -----------------------------------------------------------
    	startSERVO();
    	startStopwatch1();					// Needed for 20ms pulse repetition
    }
    
    /**
     * START SERVO
     *
     * If the servo function was stopped with the
     * function stopSERVO() before, it can be
     * started again with this function.
     *
     */
    void startSERVO(void)
    {
    	servo_on = TRUE;
    }
    
    /**
     * STOP SERVO
     *
     * The servo function uses a certain amount of the
     * processor's calculating time. If the Servos are
     * not moving for a while, the servo pulse
     * generation can be stopped with this function.
     *
     */
    void stopSERVO(void)
    {
    	servo_on = FALSE;
    }
    
    /**
     * PULSE SERVO
     *
     * This is the servo pulse generation. This function
     * must be called every 20ms (pulse repetition).
     *
     * position = 0               : Left touch
     * position = RIGHT_TOUCH     : Right touch
     * position = MIDDLE_POSITION : Middle position
     *
     * ATTENTION: ! This function is BLOCKING all other activities for up to 2   !
     *            ! ms!!!                                                        !
     *            ! If you generate a pulse every 20ms <= 10% of the processor's !
     *            ! calculating time is wasted by this kind of pulse generation. !
     *            ! If this is a problem for the rest of your program, you       !
     *            ! cannot use this method.                                      !
     *            ! You will need an interrupt- or PWM-based solution instead.   !
     *            
     */
    void pulseSERVO(void)
    {uint16_t position = 0; uint8_t pulse_active = usedservos;
    	if (servo_on) {
    		cli();
    		if (usedservos & SERVO1) {SERVO1_PULSE_ON;}
    		if (usedservos & SERVO2) {SERVO2_PULSE_ON;}
    		if (usedservos & SERVO3) {SERVO3_PULSE_ON;}
    		if (usedservos & SERVO4) {SERVO4_PULSE_ON;}
    		if (usedservos & SERVO5) {SERVO5_PULSE_ON;}
    		if (usedservos & SERVO6) {SERVO6_PULSE_ON;}
    		if (usedservos & SERVO7) {SERVO7_PULSE_ON;}
    		if (usedservos & SERVO8) {SERVO8_PULSE_ON;}
    		delayCycles(LEFT_TOUCH);			// Delay ~0.7ms (left touch)
    		while (position <= RIGHT_TOUCH) {
    			if ((usedservos & SERVO1) && (position == servo1_position)) {
    				SERVO1_PULSE_OFF; pulse_active &= ~SERVO1;}
    			if ((usedservos & SERVO2) && (position == servo2_position)) {
    				SERVO2_PULSE_OFF; pulse_active &= ~SERVO2;}
    			if ((usedservos & SERVO3) && (position == servo3_position)) {
    				SERVO3_PULSE_OFF; pulse_active &= ~SERVO3;}
    			if ((usedservos & SERVO4) && (position == servo4_position)) {
    				SERVO4_PULSE_OFF; pulse_active &= ~SERVO4;}
    			if ((usedservos & SERVO5) && (position == servo5_position)) {
    				SERVO5_PULSE_OFF; pulse_active &= ~SERVO5;}
    			if ((usedservos & SERVO6) && (position == servo6_position)) {
    				SERVO6_PULSE_OFF; pulse_active &= ~SERVO6;}
    			if ((usedservos & SERVO7) && (position == servo7_position)) {
    				SERVO7_PULSE_OFF; pulse_active &= ~SERVO7;}
    			if ((usedservos & SERVO8) && (position == servo8_position)) {
    				SERVO8_PULSE_OFF; pulse_active &= ~SERVO8;}
    			if (!pulse_active) break;		// Longest pulse done: Break!
    			// Delay 9 cycles for an 8-bit servo movement range [0..255]:
    			nop(); nop(); nop(); nop(); nop(); nop(); nop(); nop(); nop();
    			position++;
    		}
    		sei();
    	}
    }
    
    /**
     * SERVO TASK
     *
     * This is the servo task. The task performes the pulse repetition
     * with the help of a stopwatch.
     *
     */
    void task_SERVO(void)
    {
    	if (getStopwatch1() > PULSE_REPETITION) { // Pulse every ~20ms
    		pulseSERVO();					// Servo pulse generation
    		setStopwatch1(0);
    	}
    }
    
    /******************************************************************************
     * Additional info
     * ****************************************************************************
     * Changelog:
     * - v. 1.0 (initial release) 03.05.2008 by Dirk
     * - v. 1.1 (bugs fixed) 21.12.2008 by Dirk
     * - v. 1.2 (pulse generation improved) 26.12.2008 by Dirk
     *
     * ****************************************************************************
     */
    
    /*****************************************************************************/
    // EOF
    Dirk

  2. #2
    Erfahrener Benutzer Roboter-Spezialist
    Registriert seit
    26.01.2008
    Ort
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    Alter
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    220
    hallo, jetzt hab ich mal die lib und headerdatei von dirk übernommen. nur beim übersetzen von dirks demoprogramm kommt bei mir folgende fehlermeldung:



    C:\Dokumente und Einstellungen\User\Eigene Dateien\Meine Projekte\Roboter\RP6Examples_20071016\RP6BASE_EXAM PLES\Servo_Dirk/Servo_Dirk.c:27: undefined reference to `initSERVO'
    C:\Dokumente und Einstellungen\User\Eigene Dateien\Meine Projekte\Roboter\RP6Examples_20071016\RP6BASE_EXAM PLES\Servo_Dirk/Servo_Dirk.c:41: undefined reference to `task_SERVO'

    initSERVO und task_SERVO werden in der LIB definiert, deshalb wundere ich mich über die fehlermeldung. hat jemand dieses programm schon mal getestet bzw. ähnliche probleme gehabt?

    mfg[/code]

  3. #3
    Erfahrener Benutzer Robotik Einstein Avatar von Dirk
    Registriert seit
    30.04.2004
    Ort
    NRW
    Beiträge
    3.791
    deshalb wundere ich mich über die fehlermeldung
    Hast du die RP6BaseServoLib.c im makefile eingetragen?

    Gruß Dirk

  4. #4
    Erfahrener Benutzer Roboter-Spezialist
    Registriert seit
    26.01.2008
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    hallo dirk, ne hab ich nicht. an dem wird es wohl auch liegen. ich hab deine RP6servolib.c und RP6servolib.h in das Verzeichnis RP6Base gespeichert.
    ist das so richtig?

    mein makefile des servo programms schaut bisher so aus:

    Code:
    # Hey Emacs, this is a -*- makefile -*-
    ###############################################################################
    # RP6 MAKEFILE FOR WinAVR
    # Based on WinAVR Sample makefile written by Eric B. Weddington,
    # Jörg Wunsch, et al.
    #
    #
    # YOU NEED TO EDIT SOME SMALL THINGS IN THIS FILE IF YOU WANT TO USE
    # IT FOR YOUR OWN PROJECTS!
    # THESE LINES ARE ALL AT THE TOP OF THIS FILE AND MARKED VERY CLEARLY !
    # BETTER DO NOT EDIT ANYTHING ELSE!
    #
    # To compile everything you can simply type "make all" on a command line in
    # this directory or simply use the supplied batch files!
    # To remove all the temporary files the compiler has generated you can use
    # "make clean"
    # See end of this file and "make" user manual for more details!
    #
    #
    # Note: Everything behind a '#' is interpreted as a comment in this file!
    #
    ###############################################################################
    
    
    
    
    ###############################################################################
    # Target file name (without extension).
    # This is the name of your main C source file! Do NOT append the ".c"!
    # Example: Let's assume your main source file is "RP6Base_MyProgram.c", then
    # you would write: TARGET = RP6Base_MyProgram
    
    TARGET = Servo_Dirk
    
    ###############################################################################
    
    
    
    ###############################################################################
    # Specify relative path to RP6 library files here.
    # This is "../../RP6Lib" or "../RP6Lib" usually.
    
    RP6_LIB_PATH=../../RP6Lib
    RP6_LIB_PATH_OTHERS= $(RP6_LIB_PATH)/RP6base $(RP6_LIB_PATH)/RP6common
    
    ###############################################################################
    
    
    #------------------------------------------------
    # Main Source file is _automatically_ added here:
    SRC = $(TARGET).c
    # DO NOT EDIT THIS!
    
    
    ###############################################################################
    # If there is more than one source file, append them here separated by spaces.
    # Usually you have to add the Library files here! (ONLY add c files "*.c" here,
    # NO header files "*.h"!)
    # Don't forget to add relative paths!
    
    SRC += $(RP6_LIB_PATH)/RP6base/RP6RobotBaseLib.c
    SRC += $(RP6_LIB_PATH)/RP6common/RP6uart.c
    #SRC += $(RP6_LIB_PATH)/RP6common/RP6I2CslaveTWI.c
    #SRC += $(RP6_LIB_PATH)/RP6common/RP6I2CmasterTWI.c
    
    # You can also wrap lines by appending a backslash to the end of the line
    # like this:
    #SRC += xyz.c \
    #abc.c \
    #asdf.c
    #
    ###############################################################################
    
    
    ###############################################################################
    # 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 = s
    
    ###############################################################################
    
    
    
    
    
    
    
    
    
    
    
    
    
    
    
    #                                                                             #
    #-----------------------------------------------------------------------------#
    ###############################################################################
    ######-------------------------------------------------------------------######
    ###### DO NOT EDIT ANYTHING BELOW IF YOU DO NOT KNOW WHAT YOU ARE DOING! ######
    ######-------------------------------------------------------------------######
    ###############################################################################
    #-----------------------------------------------------------------------------#
    #                                                                             #
    
    
    
    
    
    
    
    
    
    
    
    
    
    
    # MCU name - atmega32 for RP6 Base and Processor Expansion
    MCU = atmega32
    
    
    # Output format. (can be srec, ihex, binary)
    FORMAT = ihex
    
    
    # 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 =
    
    
    # Debugging format.
    #     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
    #     AVR Studio 4.10 requires dwarf-2.
    #     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
    DEBUG = dwarf-2
    
    
    # List any extra directories to look for include files here.
    #     Each directory must be seperated by a space.
    #     Use forward slashes for directory separators.
    #     For a directory that has spaces, enclose it in quotes.
    EXTRAINCDIRS = $(RP6_LIB_PATH) $(RP6_LIB_PATH_OTHERS)
    
    
    # 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
    
    
    
    
    # DO NOT USE THIS FOR RP6 PROJECTS!
    #
    # Processor frequency.
    #     This will define a symbol, F_CPU, in all source code files equal to the
    #     processor frequency. You can then use this symbol in your source code to
    #     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
    #     automatically to create a 32-bit value in your source code.
    # F_CPU = 8000000
    
    # Place -D or -U options here
    CDEFS =
    # -DF_CPU=$(F_CPU)UL
    
    
    
    
    # Place -I options here
    CINCS =
    
    
    
    #---------------- Compiler Options ----------------
    #  -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)
    
    
    #---------------- Assembler Options ----------------
    #  -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]
    #  -listing-cont-lines: Sets the maximum number of continuation lines of hex
    #       dump that will be displayed for a given single line of source input.
    ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs,--listing-cont-lines=100
    
    
    #---------------- Library Options ----------------
    # 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
    
    # If this is left blank, then it will use the Standard printf version.
    PRINTF_LIB =
    #PRINTF_LIB = $(PRINTF_LIB_MIN)
    #PRINTF_LIB = $(PRINTF_LIB_FLOAT)
    
    
    # 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
    
    # If this is left blank, then it will use the Standard scanf version.
    SCANF_LIB =
    #SCANF_LIB = $(SCANF_LIB_MIN)
    #SCANF_LIB = $(SCANF_LIB_FLOAT)
    
    
    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 =
    
    
    
    #---------------- Linker Options ----------------
    #  -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) $(SCANF_LIB) $(MATH_LIB)
    
    
    
    #---------------- Programming Options (avrdude) ----------------
    
    # 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 = stk500
    
    # com1 = serial port. Use lpt1 to connect to parallel port.
    AVRDUDE_PORT = com1    # 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 <http://savannah.nongnu.org/projects/avrdude>
    # 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)
    
    
    
    #---------------- Debugging Options ----------------
    
    # For simulavr only - target MCU frequency.
    DEBUG_MFREQ = $(F_CPU)
    
    # Set the DEBUG_UI to either gdb or insight.
    # DEBUG_UI = gdb
    DEBUG_UI = insight
    
    # Set the debugging back-end to either avarice, simulavr.
    DEBUG_BACKEND = avarice
    #DEBUG_BACKEND = simulavr
    
    # GDB Init Filename.
    GDBINIT_FILE = __avr_gdbinit
    
    # When using avarice settings for the JTAG
    JTAG_DEV = /dev/com1
    
    # Debugging port used to communicate between GDB / avarice / simulavr.
    DEBUG_PORT = 4242
    
    # Debugging host used to communicate between GDB / avarice / simulavr, normally
    #     just set to localhost unless doing some sort of crazy debugging when
    #     avarice is running on a different computer.
    DEBUG_HOST = localhost
    
    
    
    #============================================================================
    
    
    # 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
    REMOVEDIR = rmdir
    COPY = cp
    WINSHELL = cmd
    
    
    # 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 = $(SRC:.c=.lst) $(ASRC:.S=.lst)
    
    
    # Compiler flags to generate dependency files.
    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 end
    
    build: elf hex lss sym
    #eep
    # EEPROM File will not be build!
    
    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)
    
    end:
    	@echo $(MSG_END)
    	@echo
    
    
    # Display size of file.
    HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
    ELFSIZE = $(SIZE) --format=avr --mcu=$(MCU) $(TARGET).elf
    
    sizebefore:
    	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
    	2>/dev/null; echo; fi
    
    sizeafter:
    	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
    	2>/dev/null; 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)
    
    
    # Generate avr-gdb config/init file which does the following:
    #     define the reset signal, load the target file, connect to target, and set
    #     a breakpoint at main().
    gdb-config:
    	@$(REMOVE) $(GDBINIT_FILE)
    	@echo define reset >> $(GDBINIT_FILE)
    	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
    	@echo end >> $(GDBINIT_FILE)
    	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
    	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
    ifeq ($(DEBUG_BACKEND),simulavr)
    	@echo load  >> $(GDBINIT_FILE)
    endif
    	@echo break main >> $(GDBINIT_FILE)
    
    debug: gdb-config $(TARGET).elf
    ifeq ($(DEBUG_BACKEND), avarice)
    	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
    	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
    	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
    	@$(WINSHELL) /c pause
    else
    	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
    	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
    endif
    	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
    
    
    
    # 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) $^ --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 $@
    
    # Create preprocessed source for use in sending a bug report.
    %.i : %.c
    	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
    
    
    # Target: clean project.
    clean: begin clean_list end
    
    clean_list :
    	@echo
    	@echo $(MSG_CLEANING)
    
    # We want to keep the generated hexfiles:
    #	$(REMOVE) $(TARGET).hex
    
    #	$(REMOVE) $(TARGET).eep
    	$(REMOVE) $(TARGET).cof
    	$(REMOVE) $(TARGET).elf
    	$(REMOVE) $(TARGET).map
    	$(REMOVE) $(TARGET).sym
    	$(REMOVE) $(TARGET).lss
    	$(REMOVE) $(OBJ)
    	$(REMOVE) $(LST)
    	$(REMOVE) $(SRC:.c=.s)
    	$(REMOVE) $(SRC:.c=.d)
    	$(REMOVE) $(SRC:.c=.i)
    	$(REMOVE) .dep/*
    	$(REMOVEDIR) .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 lss sym coff extcoff \
    clean clean_list program debug gdb-config
    
    
    ###############################################################################
    # Based on WinAVR Sample makefile written by Eric B. Weddington,
    # Jörg Wunsch, et al.
    # Released to the Public Domain.
    # Please read the "make" user manual!
    #
    # On command line:
    #
    # make all = Make software.
    #
    # make clean = Clean out built project files.
    #
    # make coff = Convert ELF to AVR COFF.
    #
    # make extcoff = Convert ELF to AVR Extended COFF.
    #
    # make program = Download the hex file to the device, using avrdude.
    #                Please customize the avrdude settings first!
    #
    # make debug = Start either simulavr or avarice as specified for debugging,
    #              with avr-gdb or avr-insight as the front end for debugging.
    #
    # make filename.s = Just compile filename.c into the assembler code only.
    #
    # make filename.i = Create a preprocessed source file for use in submitting
    #                   bug reports to the GCC project.
    #
    # To rebuild project do "make clean" then "make all".
    #
    ###############################################################################
    wo müsste ich dann die RP6BaseServoLib.c im makefile eintragen?

    hab so etwas leider noch nie gemacht, drum auch sehr wenig ahnung davon.

    mfg

  5. #5
    Erfahrener Benutzer Robotik Einstein Avatar von Dirk
    Registriert seit
    30.04.2004
    Ort
    NRW
    Beiträge
    3.791
    wo müsste ich dann die RP6BaseServoLib.c im makefile eintragen?
    SRC += $(RP6_LIB_PATH)/RP6base/RP6RobotBaseLib.c
    SRC += $(RP6_LIB_PATH)/RP6common/RP6uart.c
    #SRC += $(RP6_LIB_PATH)/RP6common/RP6I2CslaveTWI.c
    #SRC += $(RP6_LIB_PATH)/RP6common/RP6I2CmasterTWI.c
    [highlight=red:b3d130698a]SRC += $(RP6_LIB_PATH)/RP6base/RP6BaseServoLib.c[/highlight:b3d130698a]

    Gruß Dirk

  6. #6
    Erfahrener Benutzer Roboter-Spezialist
    Registriert seit
    26.01.2008
    Ort
    Allgäu
    Alter
    30
    Beiträge
    220
    vielen dank dirk, darauf wär ich ja nie gekommen. jetzt lässt es sich fehlerfrei kompilieren. was bedeutet eigentlich genau das SRC?

    gruß

  7. #7
    Erfahrener Benutzer Begeisterter Techniker
    Registriert seit
    07.12.2007
    Ort
    Berlin
    Alter
    33
    Beiträge
    211
    SRC steht für Source = Quelle
    carlitoco

  8. #8
    Benutzer Stammmitglied
    Registriert seit
    26.02.2009
    Beiträge
    86
    Hallo,

    Eine Frage noch an Dirk ich wollte auch einmal dein Servolib für den RP6 ausprobieren.Als ich das Demo-Programm compilieren wollte kam aber die Fehlermeldung:

    Code:
    make: *** No rule to make target `RP6Base_Move_04.elf', needed by `elf'.  Stop.
    Was muss ich machen um compilieren zu können?

    gruß
    David

  9. #9
    Benutzer Stammmitglied
    Registriert seit
    26.02.2009
    Beiträge
    86
    ähm, hab im makefile vergessen den Namen zu ändern hab ich gemacht. Kommt trotzdem die Fehlermeldung:
    make: *** No rule to make target `RP6_ServoTest.elf ' , needed by `elf'. Stop.

    =(

  10. #10
    Erfahrener Benutzer Robotik Einstein Avatar von Dirk
    Registriert seit
    30.04.2004
    Ort
    NRW
    Beiträge
    3.791
    Die Fehlermeldung sagt, dass der Compiler dein Programm nicht findet.

    Gründe: 1. Falsches Verzeichnis? 2. Falscher Dateiname (müßte bei dir ja "RP6_ServoTest.c" sein)?

    Lösungen:
    1. Die selbe Verzeichnisstruktur wie bei den Beispielprogrammen des RP6 herstellen.

    2. Dateinamen anpassen. Im makefile müßte stehen: "TARGET = RP6_ServoTest".

    Gruß Dirk

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