mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
8d015a57d0
Added support for SPI slave configurations to the pios SPI layer. Converted the board specific configuration for the PIOS SPI layer to use const static initializers rather than #defines (see pios_board.c). SPI interface between the OP board and the AHRS is now operational at a basic level, capable of moving simple single byte messages between boards. Multi-byte, CRC protected messages will be added on top of this. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@759 ebee16cc-31ac-478f-84a7-5cbb03baadba
570 lines
17 KiB
Makefile
570 lines
17 KiB
Makefile
#####
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# Project: OpenPilot AHRS
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#
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#
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# Makefile for OpenPilot AHRS 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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# 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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USE_BOOTLOADER ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= YES
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# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
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TCHAIN_PREFIX = arm-none-eabi-
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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else
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REMOVE_CMD = rm
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endif
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FLASH_TOOL = OPENOCD
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# YES enables -mthumb option to flags for source-files listed
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# in SRC and CPPSRC
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USE_THUMB_MODE = YES
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# MCU name, submodel and board
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# - MCU used for compiler-option (-mcpu)
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# - MODEL used for linker-script name (-T) and passed as define
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# - BOARD just passed as define (optional)
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MCU = cortex-m3
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CHIP = STM32F103CBT
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BOARD = STM32103CB_AHRS
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ifeq ($(USE_BOOTLOADER), YES)
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MODEL = MD
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else
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MODEL = MD
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endif
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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OUTDIR = Build
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# Target file name (without extension).
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TARGET = AHRS
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# Paths
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AHRS = ./
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AHRSINC = $(AHRS)/inc
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PIOS = ../PiOS
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PIOSINC = $(PIOS)/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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PIOSCOMMON = $(PIOS)/Common
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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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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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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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## AHRS:
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SRC = ahrs.c
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SRC += pios_board.c
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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_adc.c
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SRC += $(PIOSSTM32F10X)/pios_i2c.c
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SRC += $(PIOSSTM32F10X)/pios_gpio.c
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SRC += $(PIOSSTM32F10X)/pios_spi.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/pios_hmc5843.c
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SRC += $(PIOSCOMMON)/printf-stdarg.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_adc.c
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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_dac.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_i2c.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_tim.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
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SRC += $(STMSPDSRCDIR)/misc.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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## 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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ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
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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 += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(AHRSINC)
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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 = $(PIOSSTM32F10X)
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(DEBUG),YES)
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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
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# -U options for C here.
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CDEFS = -DSTM32F10X_$(MODEL)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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CDEFS += -DUSE_$(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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ifeq ($(DEBUG),YES)
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CFLAGS = -g$(DEBUGF)
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endif
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CFLAGS += -O$(OPT)
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CFLAGS += -mcpu=$(MCU) -mthumb
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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 ($(CODE_SOURCERY), YES)
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CFLAGS += -fpromote-loop-indices
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endif
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CFLAGS += -Wall
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CFLAGS += -Wa,-adhlns=$(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) -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 += $(MATH_LIB)
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LDFLAGS += -lc -lgcc
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# Set linker-script name depending on selected submodel name
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LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
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# ---------------------------------------------------------------------------
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# Options for OpenOCD flash-programming
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# see openocd.pdf/openocd.texi for further information
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#
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OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
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# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
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OOCD_EXE=openocd
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# debug level
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OOCD_CL=-d0
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# interface and board/target settings (using the OOCD target-library here)
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OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../Project/OpenOCD/stm32.cfg
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# initialize
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OOCD_CL+=-c init
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# show the targets
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OOCD_CL+=-c targets
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# commands to prepare flash-write
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OOCD_CL+= -c "reset halt"
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# flash erase
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OOCD_CL+=-c "stm32x mass_erase 0"
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# flash-write
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OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
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# Verify
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OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
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# reset target
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OOCD_CL+=-c "reset run"
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# terminate OOCD after programming
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OOCD_CL+=-c shutdown
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# ---------------------------------------------------------------------------
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# Define programs and commands.
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CC = $(TCHAIN_PREFIX)gcc
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CPP = $(TCHAIN_PREFIX)g++
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AR = $(TCHAIN_PREFIX)ar
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OBJCOPY = $(TCHAIN_PREFIX)objcopy
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OBJDUMP = $(TCHAIN_PREFIX)objdump
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SIZE = $(TCHAIN_PREFIX)size
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NM = $(TCHAIN_PREFIX)nm
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REMOVE = $(REMOVE_CMD) -f
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###SHELL = sh
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###COPY = cp
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# Define Messages
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# English
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MSG_ERRORS_NONE = Errors: none
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MSG_BEGIN = "-------- begin (mode: $(RUN_MODE)) --------"
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MSG_END = -------- end --------
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MSG_SIZE_BEFORE = Size before:
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MSG_SIZE_AFTER = Size after build:
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MSG_LOAD_FILE = Creating load file:
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MSG_EXTENDED_LISTING = Creating Extended Listing/Disassembly:
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MSG_SYMBOL_TABLE = Creating Symbol Table:
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MSG_LINKING = "**** Linking :"
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MSG_COMPILING = "**** Compiling C :"
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MSG_COMPILING_ARM = "**** Compiling C (ARM-only):"
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MSG_COMPILINGCPP = "Compiling C++ :"
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MSG_COMPILINGCPP_ARM = "Compiling C++ (ARM-only):"
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MSG_ASSEMBLING = "**** Assembling:"
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MSG_ASSEMBLING_ARM = "****Assembling (ARM-only):"
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MSG_CLEANING = Cleaning project:
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MSG_FORMATERROR = Can not handle output-format
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MSG_ASMFROMC = "Creating asm-File from C-Source:"
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MSG_ASMFROMC_ARM = "Creating asm-File from C-Source (ARM-only):"
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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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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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# Default target.
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#all: begin gccversion sizebefore build sizeafter finished end
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all: begin gccversion build sizeafter finished end
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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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# Eye candy.
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begin:
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## @echo
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@echo $(MSG_BEGIN)
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finished:
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## @echo $(MSG_ERRORS_NONE)
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end:
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@echo $(MSG_END)
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## @echo
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# Display sizes of sections.
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ELFSIZE = $(SIZE) -A $(OUTDIR)/$(TARGET).elf
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##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
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sizebefore:
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# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
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sizeafter:
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# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
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@echo $(MSG_SIZE_AFTER)
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$(ELFSIZE)
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# Display compiler version information.
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gccversion :
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@$(CC) --version
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# @echo $(ALLOBJ)
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# Program the device.
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ifeq ($(FLASH_TOOL),OPENOCD)
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# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
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program: $(OUTDIR)/$(TARGET).elf
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@echo "Programming with OPENOCD"
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$(OOCD_EXE) $(OOCD_CL)
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endif
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# Create final output file (.hex) from ELF output file.
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%.hex: %.elf
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## @echo
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@echo $(MSG_LOAD_FILE) $@
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$(OBJCOPY) -O ihex $< $@
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# Create final output file (.bin) from ELF output file.
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%.bin: %.elf
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## @echo
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@echo $(MSG_LOAD_FILE) $@
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$(OBJCOPY) -O binary $< $@
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# Create extended listing file/disassambly from ELF output file.
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# using objdump testing: option -C
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%.lss: %.elf
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## @echo
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@echo $(MSG_EXTENDED_LISTING) $@
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$(OBJDUMP) -h -S -C -r $< > $@
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# $(OBJDUMP) -x -S $< > $@
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# Create a symbol table from ELF output file.
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%.sym: %.elf
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## @echo
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@echo $(MSG_SYMBOL_TABLE) $@
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$(NM) -n $< > $@
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# Link: create ELF output file from object files.
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.SECONDARY : $(TARGET).elf
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.PRECIOUS : $(ALLOBJ)
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%.elf: $(ALLOBJ)
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@echo
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@echo $(MSG_LINKING) $@
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# use $(CC) for C-only projects or $(CPP) for C++-projects:
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$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
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# $(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
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# Assemble: create object files from assembler source files.
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define ASSEMBLE_TEMPLATE
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$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
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## @echo
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@echo $(MSG_ASSEMBLING) $$< "->" $$@
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$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
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endef
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$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
|
|
|
# Assemble: create object files from assembler source files. ARM-only
|
|
define ASSEMBLE_ARM_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_ASSEMBLING_ARM) $$< "->" $$@
|
|
$(CC) -c $$(ASFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
|
|
|
|
|
# Compile: create object files from C source files.
|
|
define COMPILE_C_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_COMPILING) $$< "->" $$@
|
|
$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
|
|
|
# Compile: create object files from C source files. ARM-only
|
|
define COMPILE_C_ARM_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_COMPILING_ARM) $$< "->" $$@
|
|
$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
|
|
|
|
|
# Compile: create object files from C++ source files.
|
|
define COMPILE_CPP_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_COMPILINGCPP) $$< "->" $$@
|
|
$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
|
|
|
# Compile: create object files from C++ source files. ARM-only
|
|
define COMPILE_CPP_ARM_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_COMPILINGCPP_ARM) $$< "->" $$@
|
|
$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
|
|
|
|
|
# Compile: create assembler files from C source files. ARM/Thumb
|
|
$(SRC:.c=.s) : %.s : %.c
|
|
@echo $(MSG_ASMFROMC) $< to $@
|
|
$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
|
|
|
# Compile: create assembler files from C source files. ARM only
|
|
$(SRCARM:.c=.s) : %.s : %.c
|
|
@echo $(MSG_ASMFROMC_ARM) $< to $@
|
|
$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
|
|
|
# Generate Doxygen documents
|
|
docs:
|
|
doxygen $(DOXYGENDIR)/doxygen.cfg
|
|
|
|
# Target: clean project.
|
|
clean: begin clean_list finished end
|
|
|
|
clean_list :
|
|
## @echo
|
|
@echo $(MSG_CLEANING)
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).map
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).elf
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).hex
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).bin
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).sym
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).lss
|
|
$(REMOVE) $(ALLOBJ)
|
|
$(REMOVE) $(LSTFILES)
|
|
$(REMOVE) $(DEPFILES)
|
|
$(REMOVE) $(SRC:.c=.s)
|
|
$(REMOVE) $(SRCARM:.c=.s)
|
|
$(REMOVE) $(CPPSRC:.cpp=.s)
|
|
$(REMOVE) $(CPPSRCARM:.cpp=.s)
|
|
|
|
|
|
# Create output files directory
|
|
# all known MS Windows OS define the ComSpec environment variable
|
|
ifdef ComSpec
|
|
$(shell md $(OUTDIR) 2>NUL)
|
|
else
|
|
$(shell mkdir $(OUTDIR) 2>/dev/null)
|
|
endif
|
|
|
|
# Include the dependency files.
|
|
ifdef ComSpec
|
|
-include $(shell md $(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 begin finish end sizebefore sizeafter gccversion \
|
|
build elf hex bin lss sym clean clean_list program
|
|
|