- Openocd configurations

**.DS_Store

**.b#*

**.s#*

**.eep

**/ASF/

**.atsln

ifdef SystemRoot

	SHELL = cmd.exe

	MK_DIR = mkdir

else

	ifeq ($(shell uname), Linux)

		MK_DIR = mkdir -p

	endif

	ifeq ($(shell uname | cut -d _ -f 1), CYGWIN)

		MK_DIR = mkdir -p

	endif

	ifeq ($(shell uname | cut -d _ -f 1), MINGW32)

		MK_DIR = mkdir -p

	endif

	ifeq ($(shell uname | cut -d _ -f 1), MINGW64)

		MK_DIR = mkdir -p

	endif

endif

# Programming tool

OPENOCD = openocd

# Target Chip

MCU_DEFINE := __SAMD51J18A__

# Flags

LFLAGS += -mthumb -mabi=aapcs-linux -mlong-calls -mcpu=cortex-m4 -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -DSAMD51

CFLAGS += -x c -DDEBUG -Os -ffunction-sections -g3 -Wall -c -std=gnu99 $(LFLAGS)

INCLUDES += -I"../mkstepper-v011/mkstepper-v011" -I"../samd51" -I"../samd51/CMSIS/Include" -I"../samd51/include" -I"../samd51/startup"

# List the subdirectories for creating object files

SUB_DIRS +=  \

 \

mkstepper-v011/mkstepper-v011 \

samd51/CMSIS/Include \

samd51/include \

samd51/startup \

# List the source files

SRCS = $(wildcard ../mkstepper-v011/mkstepper-v011/*.c)

SRCS += $(wildcard ../samd51/startup/*.c)

# List the object files

OBJS += $(SRCS:%.c=%.o)

OBJS := $(OBJS:../%=%) # detach path

OBJS_AS_ARGS += $(OBJS)

# List the dependency files

DEPS := $(OBJS:%.o=%.d)

DEPS_AS_ARGS += $(DEPS)

OUTPUT_FILE_NAME :=mkstepper

QUOTE := "

OUTPUT_FILE_PATH +=$(OUTPUT_FILE_NAME).elf

OUTPUT_FILE_PATH_AS_ARGS +=$(OUTPUT_FILE_NAME).elf

vpath %.c ..

vpath %.s ..

vpath %.S ..

# All Target

all: $(SUB_DIRS) $(OUTPUT_FILE_PATH)

# Linker target

$(OUTPUT_FILE_PATH): $(OBJS)

	@echo Building target: $@

	@echo Invoking: ARM/GNU Linker

	$(QUOTE)arm-none-eabi-gcc$(QUOTE) -o $(OUTPUT_FILE_NAME).elf $(OBJS_AS_ARGS) -Wl,--start-group -lm -Wl,--end-group $(LFLAGS) \

-Wl,-Map="$(OUTPUT_FILE_NAME).map" --specs=nano.specs -Wl,--gc-sections \

 \

 \

-T"../samd51/startup/samd51j18a_flash.ld" \

-L"../samd51/startup"

	@echo Finished building target: $@

	"arm-none-eabi-objcopy" -O binary "$(OUTPUT_FILE_NAME).elf" "$(OUTPUT_FILE_NAME).bin"

	"arm-none-eabi-objcopy" -O ihex -R .eeprom -R .fuse -R .lock -R .signature  \

        "$(OUTPUT_FILE_NAME).elf" "$(OUTPUT_FILE_NAME).hex"

	"arm-none-eabi-objcopy" -j .eeprom --set-section-flags=.eeprom=alloc,load --change-section-lma \

        .eeprom=0 --no-change-warnings -O binary "$(OUTPUT_FILE_NAME).elf" \

        "$(OUTPUT_FILE_NAME).eep" || exit 0

	"arm-none-eabi-objdump" -h -S "$(OUTPUT_FILE_NAME).elf" > "$(OUTPUT_FILE_NAME).lss"

	"arm-none-eabi-size" "$(OUTPUT_FILE_NAME).elf"

# Compiler targets

%.o: %.c

	@echo Building file: $<

	@echo ARM/GNU C Compiler

	$(QUOTE)arm-none-eabi-gcc$(QUOTE) $(CFLAGS) -D$(MCU_DEFINE) $(INCLUDES) \

-MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"  -o "$@" "$<"

	@echo Finished building: $<

%.o: %.s

	@echo Building file: $<

	@echo ARM/GNU Assembler

	$(QUOTE)arm-none-eabi-as$(QUOTE) $(CFLAGS) -D$(MCU_DEFINE) $(INCLUDES) \

-MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"  -o "$@" "$<"

	@echo Finished building: $<

%.o: %.S

	@echo Building file: $<

	@echo ARM/GNU Preprocessing Assembler

	$(QUOTE)arm-none-eabi-gcc$(QUOTE) $(CFLAGS) -D$(MCU_DEFINE) $(INCLUDES) \

-MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"  -o "$@" "$<"

	@echo Finished building: $<

# Detect changes in the dependent files and recompile the respective object files.

ifneq ($(MAKECMDGOALS),clean)

ifneq ($(strip $(DEPS)),)

-include $(DEPS)

endif

endif

program: $(OUTPUT_FILE_NAME).elf

	$(OPENOCD) -f ../openocd/program.cfg

openocd: $(OUTPUT_FILE_NAME).elf

	$(OPENOCD) -f ../openocd/debug.cfg

debug: $(OUTPUT_FILE_NAME).elf

	arm-none-eabi-gdb -tui -ex "target extended-remote localhost:3333" -ex 'monitor reset halt' -ex 'load' -ex 'monitor reset init' ./mkstepper.elf

$(SUB_DIRS):

	$(MK_DIR) "$@"

clean:

	rm -f $(OBJS_AS_ARGS)

	rm -f $(OUTPUT_FILE_PATH)

	rm -f $(DEPS_AS_ARGS)

	rm -f $(OUTPUT_FILE_NAME).a $(OUTPUT_FILE_NAME).hex $(OUTPUT_FILE_NAME).bin \

        $(OUTPUT_FILE_NAME).lss $(OUTPUT_FILE_NAME).eep $(OUTPUT_FILE_NAME).map \

        $(OUTPUT_FILE_NAME).srec

# Compiling and programming the ATSAMD51J18A

First, install the patched version of [openocd](../openocd/README.md).

This assumes you did it successfuly and have it correctly programed in your path.

To compile the code, you can just use `make`.

The extra targets of interest are:

* `make clean` to clean your environment (sometimes needed before compiling, if things changed but were not discovered)

* `make program` to program the binary onto the chip using openocd

* `make openocd` to start openocd for debugging

* `make debug` to use gdb to debug the chip via openocd

## Programming

For `make program` to work, you need to have the correct openocd binary accessible in the path.

If it's not the default one, change it in `Makefile`.

You also need to be connected to your programming tool.

The configuration assumes an ATMEL ICE programmer, but you can easily change that in `program.cfg` and `debug.cfg` (if needed, might work by default).

A successful programming looks like that:

![Success](imgs/make_program.png)

## Debugging with GDB

For debug, you need to start openocd with the debug configuration.

In one terminal, do

```

make openocd

```

If everything is well, this is what you should get:

![Openocd running](imgs/make_openocd.png)

and in the other, you can start the gdb session with

```

make debug

```

Type c+(ENTER) to continue the program (it halts by default).

Type (CTRL)+c to stop the program. The rest is all with `gdb`.