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215 lines
6.9 KiB
Makefile
215 lines
6.9 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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# Include objects that are just nice information to show
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STACK_DIAGNOSTICS ?= NO
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MIXERSTATUS_DIAGNOSTICS ?= NO
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RATEDESIRED_DIAGNOSTICS ?= NO
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I2C_WDG_STATS_DIAGNOSTICS ?= NO
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DIAG_TASKS ?= NO
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# Or just turn on all the above diagnostics. WARNING: this consumes massive amounts of memory.
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ALL_DIGNOSTICS ?= NO
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# Paths
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TOPDIR = .
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OPSYSTEM = $(TOPDIR)/System
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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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## UAVTalk and UAVObject manager
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPUAVTALKINC = $(OPUAVTALK)/inc
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## Math
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MATHLIB = $(FLIGHTLIB)/math
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MATHLIBINC = $(FLIGHTLIB)/math
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## FreeRTOS support
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FREERTOS_DIR = $(PIOSCOMMON)/Libraries/FreeRTOS
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include $(FREERTOS_DIR)/library.mk
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## Misc
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DOXYGENDIR = $(ROOT_DIR)/flight/Doc/Doxygen
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OPTESTS = $(TOPDIR)/Tests
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## PIOS Hardware
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ifeq ($(MCU),cortex-m3)
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include $(PIOS)/STM32F10x/library.mk
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else ifeq ($(MCU),cortex-m4)
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include $(PIOS)/STM32F4xx/library.mk
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else
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$(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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## PIOS Hardware (Common Peripherals)
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SRC += $(PIOSCOMMON)/pios_adxl345.c
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SRC += $(PIOSCOMMON)/pios_bma180.c
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SRC += $(PIOSCOMMON)/pios_bmp085.c
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SRC += $(PIOSCOMMON)/pios_etasv3.c
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SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
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SRC += $(PIOSCOMMON)/pios_hcsr04.c
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SRC += $(PIOSCOMMON)/pios_hmc5843.c
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SRC += $(PIOSCOMMON)/pios_hmc5883.c
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SRC += $(PIOSCOMMON)/pios_i2c_esc.c
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SRC += $(PIOSCOMMON)/pios_l3gd20.c
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SRC += $(PIOSCOMMON)/pios_mpu6000.c
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SRC += $(PIOSCOMMON)/pios_mpxv.c
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SRC += $(PIOSCOMMON)/pios_ms5611.c
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SRC += $(PIOSCOMMON)/pios_video.c
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SRC += $(PIOSCOMMON)/pios_wavplay.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/pios_com_msg.c
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SRC += $(PIOSCOMMON)/pios_crc.c
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SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
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SRC += $(PIOSCOMMON)/pios_flash_jedec.c
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SRC += $(PIOSCOMMON)/pios_rcvr.c
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SRC += $(PIOSCOMMON)/pios_rfm22b.c
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SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
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SRC += $(PIOSCOMMON)/pios_sbus.c
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SRC += $(PIOSCOMMON)/pios_sdcard.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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# PIOS USB related files
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SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.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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## Libraries for flight calculations
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/taskmonitor.c
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SRC += $(FLIGHTLIB)/packet_handler.c
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SRC += $(FLIGHTLIB)/sanitycheck.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(MATHLIB)/sin_lookup.c
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SRC += $(MATHLIB)/pid.c
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## Modules
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SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.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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ASRC +=
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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 += $(HWDEFSINC)
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EXTRAINCDIRS += $(OPSYSTEMINC)
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EXTRAINCDIRS += $(MATHLIBINC)
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EXTRAINCDIRS += $(OPUAVOBJINC)
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EXTRAINCDIRS += $(OPUAVTALKINC)
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EXTRAINCDIRS += $(OPUAVSYNTHDIR)
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# Modules
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EXTRAINCDIRS += $(foreach mod, $(OPTMODULES) $(MODULES), $(OPMODULEDIR)/$(mod)/inc) $(OPMODULEDIR)/System/inc
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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 += m
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# Compiler flags
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CFLAGS +=
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# Declare all non-optional modules as built-in to force inclusion
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CDEFS += $(foreach mod, $(notdir $(MODULES)), -DMODULE_$(mod)_BUILTIN)
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# The following Makefile command, ifneq (,$(filter) $(A), $(B) $(C))
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# is equivalent to the pseudocode `if (A == B || A == C)`
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ifneq (,$(filter YES,$(STACK_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
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CFLAGS += -DSTACK_DIAGNOSTICS
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endif
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ifneq (,$(filter YES,$(MIXERSTATUS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
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CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
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endif
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ifneq (,$(filter YES,$(RATEDESIRED_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
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CFLAGS += -DRATEDESIRED_DIAGNOSTICS
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endif
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ifneq (,$(filter YES,$(I2C_WDG_STATS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
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CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
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endif
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ifneq (,$(filter YES,$(DIAG_TASKS) $(ALL_DIGNOSTICS)))
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CFLAGS += -DDIAG_TASKS
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endif
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# Set linker-script name depending on selected submodel name
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ifeq ($(MCU),cortex-m3)
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LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_memory.ld
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LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_sections.ld
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else ifeq ($(MCU),cortex-m4)
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LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
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endif
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