mirror of
https://bitbucket.org/librepilot/librepilot.git
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409 lines
13 KiB
Makefile
409 lines
13 KiB
Makefile
#####
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#
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# TODO: This file should be reworked. It will be done as a part of sim target refactoring.
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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#
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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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override ARM_SDK_PREFIX :=
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override THUMB :=
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include ../board-info.mk
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include $(ROOT_DIR)/make/firmware-defs.mk
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# Set developer code and compile options
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# Set to YES for debugging
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DEBUG ?= YES
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# List of modules to include
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MODULES = ManualControl Stabilization GPS
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MODULES += PathPlanner
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MODULES += FixedWingPathFollower
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MODULES += VtolPathFollower
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MODULES += CameraStab
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MODULES += Telemetry
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MODULES += Logging
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MODULES += FirmwareIAP
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MODULES += StateEstimation
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#MODULES += Sensors/simulated/Sensors
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MODULES += Airspeed
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MODULES += AltitudeHold
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#MODULES += OveroSync
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# Paths
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OPSYSTEM = .
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BOARDINC = ..
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OPSYSTEMINC = $(OPSYSTEM)/inc
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OPUAVTALK = ../../../../uavtalk
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OPUAVTALKINC = $(OPUAVTALK)/inc
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OPUAVOBJ = ../../../../uavobjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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PIOSINC = $(PIOS)/inc
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OPMODULEDIR = ../../../../modules
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FLIGHTLIB = ../../../../libraries
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FLIGHTLIBINC = $(FLIGHTLIB)/inc
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MATHLIB = $(FLIGHTLIB)/math
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MATHLIBINC = $(FLIGHTLIB)/math
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PIOSPOSIX = $(PIOS)/posix
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PIOSCOMMON = $(PIOS)/posix
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PIOSCORECOMMON = $(PIOS)/common
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PIOSCOMMONLIB = $(PIOS)/common/libraries
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BOOT =
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BOOTINC =
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UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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# optional component libraries
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include $(PIOS)/common/libraries/FreeRTOS/library.mk
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#include $(FLIGHTLIB)/PyMite/pymite.mk
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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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## MODULES
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SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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SRC += ${OUTDIR}/InitMods.c
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## OPENPILOT CORE:
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SRC += ${OPMODULEDIR}/System/systemmod.c
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SRC += $(OPSYSTEM)/simposix.c
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(FLIGHTLIB)/alarms.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/eventdispatcher.c
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SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/WorldMagModel.c
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SRC += $(FLIGHTLIB)/insgps13state.c
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SRC += $(FLIGHTLIB)/paths.c
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SRC += $(FLIGHTLIB)/sanitycheck.c
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SRC += $(MATHLIB)/sin_lookup.c
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SRC += $(MATHLIB)/pid.c
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SRC += $(PIOSCORECOMMON)/pios_task_monitor.c
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SRC += $(PIOSCORECOMMON)/pios_dosfs_logfs.c
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SRC += $(PIOSCORECOMMON)/pios_debuglog.c
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SRC += $(PIOSCORECOMMON)/pios_callbackscheduler.c
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## PIOS Hardware
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include $(PIOS)/posix/library.mk
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include ./UAVObjects.inc
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SRC += $(UAVOBJSRC)
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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 += $(BOARDINC)
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EXTRAINCDIRS += $(OPSYSTEMINC)
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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 += $(UAVOBJSYNTHDIR)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(MATHLIBINC)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(OPUAVSYNTHDIR)
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EXTRAINCDIRS += $(BOOTINC)
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EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
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BLONLY_CDEFS += -DBOARD_TYPE=$(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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# Since we are simulating all this firmware the code needs to know what the BL would
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# normally contain
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CFLAGS += $(BLONLY_CDEFS)
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ifeq ($(DEBUG),YES)
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CFLAGS += -O0
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CFLAGS += -DGENERAL_COV
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CFLAGS += -finstrument-functions -ffixed-r10
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else
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CFLAGS += -Os
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endif
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# common architecture-specific flags from the device-specific library makefile
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CFLAGS += $(ARCHFLAGS)
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CFLAGS += $(UAVOBJDEFINE)
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CFLAGS += -DDIAG_STACK
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CFLAGS += -DDIA_MIXERSTATUS
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CFLAGS += -DDIAG_RATEDESIRED
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CFLAGS += -DDIAG_I2C_WDG_STATS
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CFLAGS += -DDIAG_TASKS
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# Or all of above:
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#CFLAGS += -DDIAG_ALL
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# This is not the best place for these. Really should abstract out
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# to the board file or something
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#CFLAGS += -DSTM32F4XX
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CFLAGS += -DMEM_SIZE=1024000000
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# Output format. (can be ihex or binary or both)
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# binary to create a load-image in raw-binary format i.e. for SAM-BA,
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# ihex to create a load-image in Intel hex format
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#LOADFORMAT = ihex
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#LOADFORMAT = binary
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LOADFORMAT = both
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# Debugging format.
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DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or
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# -U options for C here.
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CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
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CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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CDEFS += -DUSE_$(BOARD)
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# Place project-specific -D and/or -U options for
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# 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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#-----
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# Compiler flags.
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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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#
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# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
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CFLAGS += -g$(DEBUGF)
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CFLAGS += -ffast-math
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#CFLAGS += -mcpu=$(MCU)
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CFLAGS += $(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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ifeq ($(CODE_SOURCERY), YES)
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CFLAGS += -fpromote-loop-indices
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endif
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CFLAGS += -Wall
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#CFLAGS += -Werror
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CFLAGS += -Wa,-adhlns=$(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 = $(ARCHFLAGS) -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 = -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
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LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
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LDFLAGS += -lc
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LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
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LDFLAGS += $(MATH_LIB)
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LDFLAGS += -lc -lgcc -lpthread -lrt
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#Linker scripts
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LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
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# Define programs and commands.
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REMOVE = $(RM) -f
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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) uavobjectsinit.o.firmware_info ))
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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, $(ALLSRCBASE)))
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# Default target.
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all: gccversion build
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ifeq ($(LOADFORMAT),ihex)
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build: elf hex lss sym
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else
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ifeq ($(LOADFORMAT),binary)
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build: elf bin lss sym
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else
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ifeq ($(LOADFORMAT),both)
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build: elf hex bin lss sym
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else
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$(error "$(MSG_FORMATERROR) $(FORMAT)")
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endif
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endif
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endif
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# Link: create ELF output file from object files.
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$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
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# Assemble: create object files from assembler source files.
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$(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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$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
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$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/uavobjectsinit.o,$(BOARD_TYPE),$(BOARD_REVISION)))
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# Add jtag targets (program and wipe)
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$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
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.PHONY: elf lss sym hex bin bino opfw
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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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opfw: $(OUTDIR)/$(TARGET).opfw
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# Display sizes of sections.
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$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
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# Install: install binary file with prefix/suffix into install directory
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install: $(OUTDIR)/$(TARGET).opfw
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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).opfw
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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) $(REMOVE) $(OUTDIR)/$(TARGET).map
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$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
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$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
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$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
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$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
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$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
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$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
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$(V1) $(REMOVE) $(ALLOBJ)
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$(V1) $(REMOVE) $(LSTFILES)
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$(V1) $(REMOVE) $(DEPFILES)
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$(V1) $(REMOVE) $(SRC:.c=.s)
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$(V1) $(REMOVE) $(SRCARM:.c=.s)
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$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
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$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
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# Create output files directory
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# all known MS Windows OS define the ComSpec environment variable
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ifdef ComSpec
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$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
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else
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$(shell mkdir -p $(OUTDIR) 2>/dev/null)
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endif
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# Include the dependency files.
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ifdef ComSpec
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-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
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else
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-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
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endif
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#create compile-time module auto-initialisation
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MODNAMES = ${notdir $(subst /revolution,,$(MODULES))}
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# Generate intermediate code
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gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
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# Generate code for module initialization
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${OUTDIR}/InitMods.c: Makefile
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$(V1) $(ECHO) $(MSG_MODINIT $(call toprel, $@))
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$(V1) $(ECHO) $(QUOTE)// Autogenerated file$(QUOTE) > ${OUTDIR}/InitMods.c
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$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}$(QUOTE) >> ${OUTDIR}/InitMods.c
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$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}$(QUOTE) >> ${OUTDIR}/InitMods.c
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$(V1) $(ECHO) $(QUOTE)void InitModules() {$(QUOTE) >> ${OUTDIR}/InitMods.c
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$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}$(QUOTE) >> ${OUTDIR}/InitMods.c
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$(V1) $(ECHO) $(QUOTE)}$(QUOTE) >> ${OUTDIR}/InitMods.c
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$(V1) $(ECHO) $(QUOTE)void StartModules() {$(QUOTE) >> ${OUTDIR}/InitMods.c
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$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, ${MOD}Start();}$(QUOTE) >> ${OUTDIR}/InitMods.c
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$(V1) $(ECHO) $(QUOTE)}$(QUOTE) >> ${OUTDIR}/InitMods.c
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# Listing of phony targets.
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.PHONY : all build clean clean_list install
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