mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
460 lines
15 KiB
Makefile
460 lines
15 KiB
Makefile
#
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# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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ifndef OPENPILOT_IS_COOL
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$(error Top level Makefile must be used to build this target)
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endif
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# Set developer code and compile options.
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# Set to YES to compile for debugging
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DEBUG ?= NO
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# Set to YES to use the Servo output pins for debugging via scope or logic analyser
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ENABLE_DEBUG_PINS ?= NO
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# Set to YES to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
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ENABLE_AUX_UART ?= NO
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# Paths
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TOPDIR = .
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OPSYSTEM = $(TOPDIR)
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OPSYSTEMINC = $(OPSYSTEM)/inc
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PIOSINC = $(PIOS)/inc
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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FLIGHTLIBINC = $(FLIGHTLIB)/inc
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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ifeq ($(MCU),cortex-m3)
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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APPLIBDIR = $(PIOSSTM32F10X)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
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STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
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STMUSBSRCDIR = $(STMUSBDIR)/src
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STMUSBINCDIR = $(STMUSBDIR)/inc
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CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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DOSFSDIR = $(APPLIBDIR)/dosfs
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MSDDIR = $(APPLIBDIR)/msd
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RTOSDIR = $(APPLIBDIR)/FreeRTOS
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RTOSSRCDIR = $(RTOSDIR)/Source
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RTOSINCDIR = $(RTOSSRCDIR)/include
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else ifeq ($(MCU),cortex-m4)
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PIOSSTM32F4XX = $(PIOS)/STM32F4xx
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APPLIBDIR = $(PIOSSTM32F4XX)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
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PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
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else
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$(error Unsupported MCU: $(MCU))
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endif
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# List C source files here (C dependencies are automatically generated).
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# Use file-extension c for "c-only"-files
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## Bootloader Core
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SRC += $(OPSYSTEM)/main.c
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(OPSYSTEM)/pios_usb_board_data.c
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SRC += $(OPSYSTEM)/op_dfu.c
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## PIOS Hardware
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ifeq ($(MCU),cortex-m3)
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## PIOS Hardware (STM32F10x)
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SRC += $(PIOSSTM32F10X)/pios_sys.c
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SRC += $(PIOSSTM32F10X)/pios_led.c
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SRC += $(PIOSSTM32F10X)/pios_delay.c
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SRC += $(PIOSSTM32F10X)/pios_usart.c
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SRC += $(PIOSSTM32F10X)/pios_irq.c
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SRC += $(PIOSSTM32F10X)/pios_debug.c
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SRC += $(PIOSSTM32F10X)/pios_gpio.c
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SRC += $(PIOSSTM32F10X)/pios_iap.c
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SRC += $(PIOSSTM32F10X)/pios_bl_helper.c
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SRC += $(PIOSSTM32F10X)/pios_usb.c
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SRC += $(PIOSSTM32F10X)/pios_usbhook.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
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## Libraries for flight calculations
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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## CMSIS for STM32
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SRC += $(CMSISDIR)/core_cm3.c
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SRC += $(CMSISDIR)/system_stm32f10x.c
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## Used parts of the STM-Library
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SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
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SRC += $(STMSPDSRCDIR)/misc.c
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## STM32 USB Library
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SRC += $(STMUSBSRCDIR)/usb_core.c
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SRC += $(STMUSBSRCDIR)/usb_init.c
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SRC += $(STMUSBSRCDIR)/usb_int.c
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SRC += $(STMUSBSRCDIR)/usb_mem.c
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SRC += $(STMUSBSRCDIR)/usb_regs.c
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SRC += $(STMUSBSRCDIR)/usb_sil.c
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else ifeq ($(MCU),cortex-m4)
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## PIOS Hardware (STM32F4xx)
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include $(PIOS)/STM32F4xx/library.mk
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endif
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_board_info.c
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SRC += $(PIOSCOMMON)/pios_com_msg.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
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SRC += $(PIOSCOMMON)/pios_usb_util.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# Use file-extension c for "c-only"-files
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SRCARM =
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# List C++ source files here.
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# Use file-extension .cpp for C++-files (not .C)
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CPPSRC =
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# List C++ source files here which must be compiled in ARM-Mode.
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# Use file-extension .cpp for C++-files (not .C)
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CPPSRCARM =
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# List Assembler source files here.
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# Make them always end in a capital .S. Files ending in a lowercase .s
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# will not be considered source files but generated files (assembler
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# output from the compiler), and will be deleted upon "make clean"!
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# Even though the DOS/Win* filesystem matches both .s and .S the same,
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# it will preserve the spelling of the filenames, and gcc itself does
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# care about how the name is spelled on its command-line.
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ifeq ($(MCU),cortex-m3)
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ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
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else
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ASRC =
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endif
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# List Assembler source files here which must be assembled in ARM-Mode.
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ASRCARM =
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(HWDEFSINC)
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EXTRAINCDIRS += $(OPSYSTEMINC)
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ifeq ($(MCU),cortex-m3)
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EXTRAINCDIRS += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(OPUAVTALK)
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EXTRAINCDIRS += $(OPUAVTALKINC)
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EXTRAINCDIRS += $(OPUAVOBJ)
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EXTRAINCDIRS += $(OPUAVOBJINC)
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EXTRAINCDIRS += $(DOSFSDIR)
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EXTRAINCDIRS += $(MSDDIR)
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EXTRAINCDIRS += $(RTOSINCDIR)
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EXTRAINCDIRS += $(STMUSBINCDIR)
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EXTRAINCDIRS += $(APPLIBDIR)
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EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
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else ifeq ($(MCU),cortex-m4)
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EXTRAINCDIRS += $(PIOSSTM34FXX)
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endif
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# List any extra directories to look for library files here.
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# Also add directories where the linker should search for
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# includes from linker-script to the list
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# Each directory must be seperated by a space.
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EXTRA_LIBDIRS =
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# Extra Libraries
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# Each library-name must be seperated by a space.
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# i.e. to link with libxyz.a, libabc.a and libefsl.a:
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# EXTRA_LIBS = xyz abc efsl
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# for newlib-lpc (file: libnewlibc-lpc.a):
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# EXTRA_LIBS = newlib-lpc
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EXTRA_LIBS =
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# Path to linker scripts
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ifeq ($(MCU),cortex-m3)
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LINKERSCRIPTPATH = $(PIOSSTM32F10X)
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else ifeq ($(MCU),cortex-m4)
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LINKERSCRIPTPATH = $(PIOSSTM32FXX)
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endif
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# Note: 3 is not always the best optimization level.
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ifeq ($(DEBUG), YES)
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OPT = 0
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else
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OPT = s
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endif
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# Output format (can be ihex or binary or both).
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# binary to create a load-image in raw-binary format i.e. for SAM-BA,
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# ihex to create a load-image in Intel hex format
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#LOADFORMAT = ihex
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#LOADFORMAT = binary
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LOADFORMAT = both
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# Debugging format.
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DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or -U options for C here.
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ifeq ($(MCU),cortex-m3)
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CDEFS = -DSTM32F10X_$(MODEL)
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else ifeq ($(MCU),cortex-m4)
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CDEFS += -DSTM32F4XX
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CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
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CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
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endif
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CDEFS += -DUSE_$(BOARD)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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ifeq ($(ENABLE_DEBUG_PINS), YES)
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CDEFS += -DPIOS_ENABLE_DEBUG_PINS
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endif
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ifeq ($(ENABLE_AUX_UART), YES)
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CDEFS += -DPIOS_ENABLE_AUX_UART
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endif
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# Provide (only) the bootloader with board-specific defines
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BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
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BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
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BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
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BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
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BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
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BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
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BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
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# Place project-specific -D and/or -U options for Assembler with preprocessor here.
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#ADEFS = -DUSE_IRQ_ASM_WRAPPER
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ADEFS = -D__ASSEMBLY__
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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# gnu89 - c89 plus GCC extensions
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# c99 - ISO C99 standard (not yet fully implemented)
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# gnu99 - c99 plus GCC extensions
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CSTANDARD = -std=gnu99
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# Compiler flags.
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#
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# -g*: generate debugging information
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# -O*: optimization level
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# -f...: tuning, see GCC manual and avr-libc documentation
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# -Wall...: warning level
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# -Wa,...: tell GCC to pass this to the assembler.
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# -adhlns...: create assembler listing
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# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
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ifeq ($(MCU),cortex-m4)
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# This is not the best place for these. Really should abstract out
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# to the board file or something
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CFLAGS += -DSTM32F4XX
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CFLAGS += -DMEM_SIZE=1024000000
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endif
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CFLAGS += -mcpu=$(MCU)
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CFLAGS += $(CDEFS)
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CFLAGS += $(BLONLY_CDEFS)
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CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
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CFLAGS += -mapcs-frame
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CFLAGS += -fomit-frame-pointer
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CFLAGS += -O$(OPT)
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CFLAGS += -g$(DEBUGF)
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ifeq ($(DEBUG), YES)
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CFLAGS += -DDEBUG
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else
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CFLAGS += -fdata-sections -ffunction-sections
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endif
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CFLAGS += -Wall
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# FIXME: STM32F4xx library raises strict aliasing and const qualifier warnings
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ifneq ($(MCU),cortex-m4)
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CFLAGS += -Werror
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endif
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CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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# Compiler flags to generate dependency files
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CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
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# Flags only for C
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#CONLYFLAGS += -Wnested-externs
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CONLYFLAGS += $(CSTANDARD)
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# Assembler flags.
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# -Wa,...: tell GCC to pass this to the assembler.
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# -ahlns: create listing
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ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
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ASFLAGS += $(ADEFS)
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ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
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MATH_LIB = -lm
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# Linker flags.
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# -Wl,...: tell GCC to pass this to linker.
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# -Map: create map file
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# --cref: add cross reference to map file
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LDFLAGS += -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
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LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
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LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
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LDFLAGS += -lc -lgcc $(MATH_LIB)
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ifneq ($(DEBUG), YES)
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LDFLAGS += -Wl,-static
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endif
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# Set linker-script name depending on selected submodel name
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ifeq ($(MCU),cortex-m3)
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LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
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LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
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else ifeq ($(MCU),cortex-m4)
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LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_BL))
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endif
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# List of all source files.
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ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
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# List of all source files without directory and file-extension.
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ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
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# Define all object files.
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ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
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# Define all listing files (used for make clean).
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LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
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# Define all depedency-files (used for make clean).
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DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
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# Default target.
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all: build
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ifeq ($(LOADFORMAT),ihex)
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build: elf hex sym
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else ifeq ($(LOADFORMAT),binary)
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build: elf bin sym
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else ifeq ($(LOADFORMAT),both)
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build: elf hex bin sym
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else
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$(error "$(MSG_FORMATERROR) $(FORMAT)")
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endif
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# Link: create ELF output file from object files.
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$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
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# Assemble: create object files from assembler source files.
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$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
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# Assemble: create object files from assembler source files. ARM-only
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$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
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# Compile: create object files from C source files.
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$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
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# Compile: create object files from C source files. ARM-only
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$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
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# Compile: create object files from C++ source files.
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$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
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# Compile: create object files from C++ source files. ARM-only
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$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
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# Compile: create assembler files from C source files. ARM/Thumb
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$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
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# Compile: create assembler files from C source files. ARM only
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$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
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$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
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# Add jtag targets (program and wipe)
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$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
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.PHONY: elf lss sym hex bin bino
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elf: $(OUTDIR)/$(TARGET).elf
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lss: $(OUTDIR)/$(TARGET).lss
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sym: $(OUTDIR)/$(TARGET).sym
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hex: $(OUTDIR)/$(TARGET).hex
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bin: $(OUTDIR)/$(TARGET).bin
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bino: $(OUTDIR)/$(TARGET).bin.o
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# Display sizes of sections.
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$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
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# Generate Doxygen documents
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docs:
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doxygen $(DOXYGENDIR)/doxygen.cfg
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# Install: install binary file with prefix/suffix into install directory
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install: $(OUTDIR)/$(TARGET).bin
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ifneq ($(INSTALL_DIR),)
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@$(ECHO) $(MSG_INSTALLING) $(call toprel, $<)
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$(V1) $(MKDIR) -p $(INSTALL_DIR)
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$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
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else
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$(error INSTALL_DIR must be specified for $@)
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endif
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# Target: clean project.
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clean: clean_list
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clean_list :
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@echo $(MSG_CLEANING)
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).map
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).elf
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).hex
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin
|
|
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).sym
|
|
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).lss
|
|
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin.o
|
|
$(V1) $(RM) -f $(ALLOBJ)
|
|
$(V1) $(RM) -f $(LSTFILES)
|
|
$(V1) $(RM) -f $(DEPFILES)
|
|
$(V1) $(RM) -f $(SRC:.c=.s)
|
|
$(V1) $(RM) -f $(SRCARM:.c=.s)
|
|
$(V1) $(RM) -f $(CPPSRC:.cpp=.s)
|
|
$(V1) $(RM) -f $(CPPSRCARM:.cpp=.s)
|
|
|
|
# Create output files directory
|
|
# all known MS Windows OS define the ComSpec environment variable
|
|
$(shell $(MKDIR) -p $(OUTDIR) 2>/dev/null)
|
|
|
|
# Include the dependency files.
|
|
-include $(shell $(MKDIR) -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
|
|
|
# Listing of phony targets.
|
|
.PHONY : all build clean clean_list install
|