Added custom printf and scanf functions to avoid unnecessary text send via the...

Added custom printf and scanf functions to avoid unnecessary text send via the serial port in the real robot.
It also helps redirect the stdin and stdout streams to a virtual serial port in simulation.
Added a macro definition __REAL__ in all Makefile's
Added a new example of communication throw a vurtual serial port and visualization of the robot camera outside ROS.

communications/Makefile

@@ -15,7 +15,7 @@ CC=avr-gcc
 OBJCOPY=avr-ar
 MMCU=atmega2561
 
-CFLAGS=-mmcu=$(MMCU) -Wall -Os -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -Os -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 ARFLAGS=rsc
 

communications/include/serial_console.h

@@ -9,7 +9,9 @@ extern "C" {
 #include <avr/interrupt.h>
 
 void serial_console_init(uint32_t baudrate);
-int printf(const char *fmt, ...);
+uint8_t serial_console_get_num_data(void);
+int cm510_printf(const char *fmt, ...);
+int cm510_scanf(const char *fmt, ... );
 
 #ifdef __cplusplus
 }

communications/src/examples/Makefile

@@ -14,7 +14,7 @@ MMCU=atmega2561
 
 LIBS=$(COMM_DIR)libcomm.a
 
-CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
 

communications/src/examples/main.c

@@ -19,12 +19,12 @@ int16_t main(void)
     dyn_master_scan(&num,ids);
     if(num==1) 
     {
-      printf("Found one device\n");
+      cm510_printf("Found one device\n");
       PORTC=0x3F;
     }
     else
     {
-      printf("No device found\n");
+      cm510_printf("No device found\n");
       PORTC=0x7F;
     }
   }

communications/src/serial_console.c

@@ -140,8 +140,16 @@ void serial_console_init(uint32_t baudrate)
   device=fdevopen(serial_console_putchar,serial_console_getchar);
 }
 
-int printf(const char *fmt, ...)
+uint8_t serial_console_get_num_data(void)
+{  
+  return serial_console_rx_num_data; 
+}
+
+int cm510_printf(const char *fmt, ...)
 {
+  #ifdef __REAL__
+  return 0;
+  #else
   va_list ap;
   int i;
 
@@ -149,4 +157,17 @@ int printf(const char *fmt, ...)
   i = vfprintf(stdout, fmt, ap);
   va_end(ap);
   return i;
+  #endif
+}
+
+int cm510_scanf(const char *fmt, ...)
+{
+  va_list arg;
+  int done;
+ 
+  va_start (arg, fmt);
+  done = vfscanf (stdin, fmt, arg);
+  va_end (arg);
+  
+  return done;
 }

controllers/Makefile

@@ -18,7 +18,7 @@ INC_DIRS=-I$(CONT_DIR)include/ -I$(COMM_DIR)include -I$(DEV_DIR)include -I$(MAN_
 
 LIBS=$(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a $(MAN_DIR)lib/libmotion_manager.a
 
-CFLAGS=-mmcu=$(MMCU) -Wall -O3 -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -O3 -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 ARFLAGS=rsc
 

controllers/src/examples/Makefile

@@ -18,7 +18,7 @@ INCLUDE_DIRS=-I$(CONT_DIR)include/ -I$(COMM_DIR)include -I$(MAN_DIR)include -I$(
 
 LIBS=$(CONT_DIR)lib/libcontrollers.a $(MAN_DIR)lib/libmotion_manager.a $(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a
 
-CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
 

controllers/src/examples/main.c

@@ -29,8 +29,8 @@ void user_loop(void)
 {
   if(user_time_is_period_done())
   {
-    printf("Gyro X: %d\n",get_adc_channel(ADC_PORT_3));
-    printf("Gyro Y: %d\n",get_adc_channel(ADC_PORT_4));
+    cm510_printf("Gyro X: %d\n",get_adc_channel(ADC_PORT_3));
+    cm510_printf("Gyro Y: %d\n",get_adc_channel(ADC_PORT_4));
   }
   if(is_button_pressed(BTN_START))
     turn_led_on(LED_AUX);

dyn_devices/Makefile

@@ -14,7 +14,7 @@ INC_DIRS=-I./include/ -I$(COMM_DIR)/include -I$(CONT_DIR)/include
 
 LIBS=$(COMM_DIR)/lib/libcomm.a
 
-CFLAGS=-mmcu=$(MMCU) -Wall -O3 -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -O3 -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 ARFLAGS=rsc
 

dyn_devices/src/examples/Makefile

@@ -19,7 +19,7 @@ LIBS=$(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a
 
 INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include
 
-CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
 

dyn_devices/src/examples/exp_board_ex.c

@@ -32,41 +32,41 @@ int main(void)
   _delay_ms(4000);
   if(exp_board_init(0xC0)==0x00)
   {
-    printf("expansion baord found\n");
+    cm510_printf("expansion baord found\n");
     /* GPIO test */
 /*    if(exp_gpio_config(GPIO0,GPIO_OUT))
-      printf("Error configuring the GPIO0 pin\n");
+      cm510_printf("Error configuring the GPIO0 pin\n");
     if(exp_gpio_config(GPIO1,GPIO_IN))
-      printf("Error configuring the GPIO1 pin\n");
+      cm510_printf("Error configuring the GPIO1 pin\n");
     for(i=0;i<10;i++)
     {
       if(exp_gpio_set_value(0,1))
-        printf("Error Error setting the value of the GPIO0 pin\n");
+        cm510_printf("Error Error setting the value of the GPIO0 pin\n");
       if(exp_gpio_get_value(GPIO1)==0x01)
-        printf("GPIO pin is HIGH\n");
+        cm510_printf("GPIO pin is HIGH\n");
       else if(exp_gpio_get_value(GPIO1)==0x00)
-        printf("GPIO pin is LOW\n");
+        cm510_printf("GPIO pin is LOW\n");
       else
-        printf("Error getting the GPIO1 value\n");
+        cm510_printf("Error getting the GPIO1 value\n");
       _delay_ms(1000);
       if(exp_gpio_set_value(0,0))
-        printf("Error Error setting the value of the GPIO1 pin\n");
+        cm510_printf("Error Error setting the value of the GPIO1 pin\n");
       if(exp_gpio_get_value(GPIO1)==0x00)
-        printf("GPIO pin is LOW\n");
+        cm510_printf("GPIO pin is LOW\n");
       else if(exp_gpio_get_value(GPIO1)==0x01)
-        printf("GPIO pin is HIGH\n");
+        cm510_printf("GPIO pin is HIGH\n");
       else
-        printf("Error getting the GPIO1 value\n");
+        cm510_printf("Error getting the GPIO1 value\n");
       _delay_ms(1000);
     }*/
     /* LED and switches test */
 /*    for(i=0;i<10;i++)
     {
       exp_gpio_set_led();
-      printf("Switches value: %d\n",exp_gpio_get_switches());
+      cm510_printf("Switches value: %d\n",exp_gpio_get_switches());
       _delay_ms(1000);
       exp_gpio_clear_led();
-      printf("Switches value: %d\n",exp_gpio_get_switches());
+      cm510_printf("Switches value: %d\n",exp_gpio_get_switches());
       _delay_ms(1000);
     }*/
     /* PWM test */
@@ -89,58 +89,58 @@ int main(void)
     for(i=0;i<10;i++)
     {
       exp_dac_set_voltage(DAC0,1000); 
-      printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
+      cm510_printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
       _delay_ms(1000);
       exp_dac_set_voltage(DAC0,2000); 
-      printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
+      cm510_printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
       _delay_ms(1000);
       exp_dac_set_voltage(DAC0,3000); 
-      printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
+      cm510_printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
       _delay_ms(1000);
       exp_dac_set_voltage(DAC0,4000); 
-      printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
+      cm510_printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
       _delay_ms(1000);
     }
     dac_stop();*/
     /* compass test */
     exp_compass_start();
-    printf("Number of samples to average: %d\n",exp_compass_get_avg_samples());
+    cm510_printf("Number of samples to average: %d\n",exp_compass_get_avg_samples());
     for(i=0;i<100;i++)
     {
-      printf("Current heading: %d\n",exp_compass_get_heading());
-      printf("Current averaged heading: %d\n",exp_compass_get_avg_heading());
+      cm510_printf("Current heading: %d\n",exp_compass_get_heading());
+      cm510_printf("Current averaged heading: %d\n",exp_compass_get_avg_heading());
       _delay_ms(1000);
     }
     exp_compass_stop();
     /* ADC test */
 /*    exp_adc_start();
-    printf("Number of samples to average: %d\n",exp_adc_get_average_samples());
-    printf("Sampling period: %d ms\n",exp_adc_get_sample_period());
+    cm510_printf("Number of samples to average: %d\n",exp_adc_get_average_samples());
+    cm510_printf("Sampling period: %d ms\n",exp_adc_get_sample_period());
     for(i=0;i<100;i++)
     {
-      printf("Current voltage at ADC0: %d mV\n",exp_adc_get_channel(ADC0));
-      printf("Current averaged voltage at ADC0: %d mV\n",exp_adc_get_avg_channel(ADC0));
+      cm510_printf("Current voltage at ADC0: %d mV\n",exp_adc_get_channel(ADC0));
+      cm510_printf("Current averaged voltage at ADC0: %d mV\n",exp_adc_get_avg_channel(ADC0));
       _delay_ms(1000);
     }
     exp_adc_stop();*/
     /* UART USB test */
 /*    exp_uart_usb_start();
-    printf("current baudrate: %d\n",exp_uart_usb_get_baudrate());
+    cm510_printf("current baudrate: %d\n",exp_uart_usb_get_baudrate());
     for(i=0;i<10;i++)
     {
       while(!exp_uart_usb_is_data_available())
         _delay_ms(100);
       data=exp_uart_usb_receive_data();
-      printf("Received data: %d\n",data);
+      cm510_printf("Received data: %d\n",data);
       exp_uart_usb_send_byte(data);
       while(exp_uart_usb_is_sending())
         _delay_ms(100);
-      printf("data sent\n");
+      cm510_printf("data sent\n");
     }
     exp_uart_usb_stop();*/
   }
   else
-    printf("expansion board not found\n"); 
+    cm510_printf("expansion board not found\n"); 
 
   while(1);
 }

dyn_devices/src/examples/servos_ex.c

@@ -35,7 +35,7 @@ int main(void)
   if(num>0)
   {
     model=get_model_number(ids[0]);
-    printf("%d\n",model);
+    cm510_printf("%d\n",model);
     set_target_speed(ids[0],100);
     for(;;)
     {
@@ -50,7 +50,7 @@ int main(void)
     }
   }
   else
-    printf("No device found");
+    cm510_printf("No device found");
 
   while(1);
 }

examples/get_up/Makefile

@@ -18,7 +18,7 @@ LIBS=$(MAN_DIR)lib/libmotion_manager.a $(CONT_DIR)lib/libcontrollers.a $(COMM_DI
 
 INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include
 
-CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
 

examples/movements/Makefile

@@ -18,7 +18,7 @@ LIBS=$(MAN_DIR)lib/libmotion_manager.a $(CONT_DIR)lib/libcontrollers.a $(COMM_DI
 
 INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include
 
-CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
 

examples/pan_tilt/Makefile

@@ -18,7 +18,7 @@ LIBS=$(MAN_DIR)lib/libmotion_manager.a $(CONT_DIR)lib/libcontrollers.a $(COMM_DI
 
 INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include -I../movements
 
-CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
 

examples/pan_tilt/pan_tilt.c

@@ -35,7 +35,7 @@ void user_loop(void)
                        }
                        else
                          state=wait_start;
-                       printf("wait_start %d\n",(int)state);
+                       cm510_printf("wait_start %d\n",(int)state);
                        break;
       case wait_cmd: if(is_button_rising_edge(BTN_LEFT))
                      {

examples/sensors/Makefile

@@ -18,7 +18,7 @@ LIBS=$(CONT_DIR)lib/libcontrollers.a $(MAN_DIR)lib/libmotion_manager.a $(DEV_DIR
 
 INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include
 
-CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
 

examples/sensors/sensors.c

@@ -21,7 +21,7 @@ void user_loop(void)
 {
   static main_states state=wait_start;
 
-/*  switch(state)
+  switch(state)
   {
     case wait_start: if(is_button_rising_edge(BTN_START))
                      {
@@ -37,9 +37,9 @@ void user_loop(void)
                      else
                        state=read_sensors;
                      break;
-    case read_sensors: printf("CM510 ADC port 1: %d\n",get_adc_avg_channel(ADC_PORT_2));
-                       printf("Exp. Board compass: %d\n",exp_compass_get_avg_heading());
-                       printf("Exp. Board ADC port 7: %d\n",exp_adc_get_avg_channel(ADC7));
+    case read_sensors: cm510_printf("CM510 ADC port 1: %d\n",get_adc_avg_channel(ADC_PORT_2));
+                       cm510_printf("Exp. Board compass: %d\n",exp_compass_get_avg_heading());
+                       cm510_printf("Exp. Board ADC port 7: %d\n",exp_adc_get_avg_channel(ADC7));
                        break;
-  }*/
+  }
 }

examples/stairs/Makefile

@@ -18,7 +18,7 @@ LIBS=$(MAN_DIR)lib/libmotion_manager.a $(CONT_DIR)lib/libcontrollers.a $(COMM_DI
 
 INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include -I../movements
 
-CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 
 LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
 

examples/vision/Makefile

+# computer code
+INPUT_FILE  = vision.cpp
+OUTPUT_FILE = vision
+LIBS        = -lpthread -L/usr/lib -lopencv_calib3d -lopencv_contrib -lopencv_core -lopencv_features2d -lopencv_flann -lopencv_gpu -lopencv_highgui -lopencv_imgproc -lopencv_legacy -lopencv_ml -lopencv_objdetect -lopencv_ocl -lopencv_photo -lopencv_stitching -lopencv_superres -lopencv_ts -lopencv_video -lopencv_videostab -L/usr/local/lib/iridrivers -ldetectqrcode -lcomm -liriutils
+INCLUDES    = -I. -I/usr/include/opencv -I/usr/local/include/iridrivers
+
+# microcontroller code
+CM510_PROJECT = cm510_vision
+CM510_SOURCES = cm510_vision.c
+
+CM510_OBJS=$(CM510_SOURCES:.c=.o)
+CM510_SRC_DIR=./
+CM510_DEV_DIR=../../dyn_devices/
+CM510_COMM_DIR=../../communications/
+CM510_CONT_DIR=../../controllers/
+CM510_MAN_DIR=../../motion/
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+MMCU=atmega2561
+
+CM510_LIBS=$(CM510_MAN_DIR)lib/libmotion_manager.a $(CM510_CONT_DIR)lib/libcontrollers.a $(CM510_COMM_DIR)lib/libcomm.a $(CM510_DEV_DIR)lib/libdyn_devices.a
+
+CM510_INCLUDE_DIRS=-I$(CM510_DEV_DIR)include -I$(CM510_COMM_DIR)include -I$(CM510_CONT_DIR)include -I$(CM510_MAN_DIR)include -I../movements
+
+CFLAGS=-mmcu=$(MMCU) -Wall -Os -DF_CPU=16000000UL -D__REAL__ -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+
+LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(CM510_PROJECT).map -DF_CPU=16000000UL
+
+HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature
+
+all: communications dyn_devices controllers motion_manager $(CM510_PROJECT).hex
+	$(CXX) $(INPUT_FILE) $(LIBS) $(INCLUDES) -o $(OUTPUT_FILE)
+
+$(CM510_PROJECT).hex: $(CM510_PROJECT).elf
+	$(OBJCOPY) -O ihex $(HEX_FLASH_FLAGS)  $< $@
+$(CM510_PROJECT).elf: $(CM510_OBJS)
+	$(CC) $(LDFLAGS) $(CM510_OBJS) $(CM510_LIBS) -o $(CM510_PROJECT).elf
+%.o:%.c
+	$(CC) -c $(CFLAGS) $(CM510_INCLUDE_DIRS) -o $@ $<
+
+communications:
+	$(MAKE) -C $(CM510_COMM_DIR)
+
+dyn_devices:
+	$(MAKE) -C $(CM510_DEV_DIR)
+
+controllers:
+	$(MAKE) -C $(CM510_CONT_DIR)
+
+motion_manager:
+	$(MAKE) -C $(CM510_MAN_DIR)
+
+download: $(MAIN_OUT_HEX)
+	fw_downloader -d /dev/ttyUSB0 -f ./$(CM510_PROJECT).hex -p cm510
+
+clean:
+	-rm $(CM510_PROJECT).map
+	-rm $(CM510_PROJECT).hex
+	-rm $(CM510_PROJECT).elf
+	-rm $(CM510_OBJS)
+	$(RM) $(OUTPUT_FILE)
+
+.PHONY: all clean