mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
6b88a278b3
the extra updates from altholdsmoothed. Increase queue size when reenabled. Also AltHold is is trigger warnings because other tasks starve it during startup.
489 lines
15 KiB
Makefile
489 lines
15 KiB
Makefile
#####
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# Project: OpenPilot INS
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#
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#
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# Makefile for OpenPilot INS project
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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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WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
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TOP := $(realpath $(WHEREAMI)/../../)
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include $(TOP)/make/firmware-defs.mk
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include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
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# Target file name (without extension).
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TARGET := fw_$(BOARD_NAME)
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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OUTDIR := $(TOP)/build/$(TARGET)
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# Set developer code and compile options
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# Set to YES for debugging
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DEBUG ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= NO
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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else
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REMOVE_CMD = rm
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endif
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FLASH_TOOL = OPENOCD
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# List of modules to include
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MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS FirmwareIAP
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MODULES += AltitudeHold
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MODULES += CameraStab
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MODULES += Telemetry
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#MODULES += OveroSync
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PYMODULES =
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#FlightPlan
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# Paths
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OPSYSTEM = ./System
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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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PIOS = ../PiOS
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PIOSINC = $(PIOS)/inc
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OPMODULEDIR = ../Modules
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FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = ../Libraries/inc
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PIOSSTM32F4XX = $(PIOS)/STM32F4xx
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
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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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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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BOOT = ../Bootloaders/INS
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BOOTINC = $(BOOT)/inc
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PYMITE = $(FLIGHTLIB)/PyMite
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PYMITELIB = $(PYMITE)/lib
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PYMITEPLAT = $(PYMITE)/platform/openpilot
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PYMITETOOLS = $(PYMITE)/tools
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PYMITEVM = $(PYMITE)/vm
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PYMITEINC = $(PYMITEVM)
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PYMITEINC += $(PYMITEPLAT)
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PYMITEINC += $(OUTDIR)
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FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
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FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
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HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
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UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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SRC =
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# optional component libraries
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include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
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#include $(PIOSCOMMONLIB)/dosfs/library.mk
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include $(PIOSCOMMONLIB)/msheap/library.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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## PyMite files and modules
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SRC += $(OUTDIR)/pmlib_img.c
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SRC += $(OUTDIR)/pmlib_nat.c
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SRC += $(OUTDIR)/pmlibusr_img.c
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SRC += $(OUTDIR)/pmlibusr_nat.c
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PYSRC += $(wildcard ${PYMITEVM}/*.c)
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PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
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PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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SRC += $(PYSRC)
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## MODULES
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SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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## OPENPILOT CORE:
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SRC += ${OPMODULEDIR}/System/systemmod.c
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SRC += $(OPSYSTEM)/revolution.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)/alarms.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/eventdispatcher.c
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#ifeq ($(DEBUG),YES)
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SRC += $(OPSYSTEM)/dcc_stdio.c
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SRC += $(OPSYSTEM)/cm3_fault_handlers.c
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#endif
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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)/taskmonitor.c
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## PIOS Hardware (STM32F4xx)
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include $(PIOS)/STM32F4xx/library.mk
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_mpu6000.c
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SRC += $(PIOSCOMMON)/pios_bma180.c
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SRC += $(PIOSCOMMON)/pios_l3gd20.c
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SRC += $(PIOSCOMMON)/pios_hmc5883.c
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SRC += $(PIOSCOMMON)/pios_ms5611.c
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SRC += $(PIOSCOMMON)/pios_crc.c
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/pios_rcvr.c
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SRC += $(PIOSCOMMON)/pios_flash_jedec.c
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SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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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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include ./UAVObjects.inc
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SRC += $(UAVOBJSRC)
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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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## just for testing, timer.c could be compiled in thumb-mode too
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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 = $(TARGET).cpp
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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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# 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 += $(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 += $(PIOSSTM32F4XX)
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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 += $(OPUAVSYNTHDIR)
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EXTRAINCDIRS += $(BOOTINC)
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EXTRAINCDIRS += $(PYMITEINC)
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EXTRAINCDIRS += $(HWDEFSINC)
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# Generate intermediate code
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gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
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$(PYSRC): gencode
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PYTHON = python
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# Generate code for PyMite
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${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py)
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@echo $(MSG_PYMITEINIT) $(call toprel, $@)
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@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
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@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
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@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
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EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${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 =
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# Path to Linker-Scripts
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LINKERSCRIPTPATH = $(PIOSSTM32F4XX)
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(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 += $(ARCHFLAGS)
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CFLAGS += -DDIAGNOSTICS
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CFLAGS += -DDIAG_TASKS
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# This is not the best place for these. Really should abstract out
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# to the board file or something
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CFLAGS += -DSTM32F4XX
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CFLAGS += -DMEM_SIZE=1024000000
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# Output format. (can be ihex or binary or both)
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# binary to create a load-image in raw-binary format i.e. for SAM-BA,
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# ihex to create a load-image in Intel hex format
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#LOADFORMAT = ihex
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#LOADFORMAT = binary
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LOADFORMAT = both
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# Debugging format.
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DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or
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# -U options for C here.
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CDEFS += -DHSE_VALUE=$(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) -mthumb -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 += -lc
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LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
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LDFLAGS += $(MATH_LIB)
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LDFLAGS += -lc -lgcc
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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 = $(REMOVE_CMD) -f
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PYHON = python
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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, $(ALLSRCBASE)))
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# Default target.
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all: gccversion build
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ifeq ($(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),$(BOARD_REVISION)))
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# Add jtag targets (program and wipe)
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$(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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# 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).opfw
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ifneq ($(INSTALL_DIR),)
|
|
@echo $(MSG_INSTALLING) $(call toprel, $<)
|
|
$(V1) mkdir -p $(INSTALL_DIR)
|
|
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
|
|
else
|
|
$(error INSTALL_DIR must be specified for $@)
|
|
endif
|
|
|
|
# Target: clean project.
|
|
clean: clean_list
|
|
|
|
clean_list :
|
|
@echo $(MSG_CLEANING)
|
|
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
|
|
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
|
|
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
|
|
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
|
|
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
|
|
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
|
|
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
|
|
$(V1) $(REMOVE) $(ALLOBJ)
|
|
$(V1) $(REMOVE) $(LSTFILES)
|
|
$(V1) $(REMOVE) $(DEPFILES)
|
|
$(V1) $(REMOVE) $(SRC:.c=.s)
|
|
$(V1) $(REMOVE) $(SRCARM:.c=.s)
|
|
$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
|
|
$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
|
|
|
|
# Create output files directory
|
|
# all known MS Windows OS define the ComSpec environment variable
|
|
ifdef ComSpec
|
|
$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
|
|
else
|
|
$(shell mkdir -p $(OUTDIR) 2>/dev/null)
|
|
endif
|
|
|
|
# Include the dependency files.
|
|
ifdef ComSpec
|
|
-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
|
|
else
|
|
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
|
endif
|
|
|
|
# Listing of phony targets.
|
|
.PHONY : all build clean clean_list install
|