mirror of
https://bitbucket.org/librepilot/librepilot.git
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304 lines
10 KiB
Makefile
304 lines
10 KiB
Makefile
#
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# Copyright (C) 2015, The LibrePilot Project, http://www.librepilot.org
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# Copyright (c) 2010-2013, 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 TOP_LEVEL_MAKEFILE
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$(error Top level Makefile must be used to build this target)
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endif
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# Define toolchain component names.
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CC = $(CCACHE) $(ARM_SDK_PREFIX)gcc
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CXX = $(CCACHE) $(ARM_SDK_PREFIX)g++
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AR = $(ARM_SDK_PREFIX)ar
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OBJCOPY = $(ARM_SDK_PREFIX)objcopy
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OBJDUMP = $(ARM_SDK_PREFIX)objdump
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SIZE = $(ARM_SDK_PREFIX)size
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NM = $(ARM_SDK_PREFIX)nm
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STRIP = $(ARM_SDK_PREFIX)strip
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THUMB = -mthumb
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# Add a board designator to the terse message text
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ifeq ($(ENABLE_MSG_EXTRA),yes)
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MSG_EXTRA := [$(BUILD_TYPE)|$(BOARD_SHORT_NAME)]
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else
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MSG_EXTRA :=
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endif
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# Define Messages
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MSG_FORMATERROR = $(QUOTE) Can not handle output-format$(QUOTE)
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MSG_MODINIT = $(QUOTE) MODINIT $(MSG_EXTRA) $(QUOTE)
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MSG_SIZE = $(QUOTE) SIZE $(MSG_EXTRA) $(QUOTE)
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MSG_LOAD_FILE = $(QUOTE) BIN/HEX $(MSG_EXTRA) $(QUOTE)
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MSG_BIN_OBJ = $(QUOTE) BINO $(MSG_EXTRA) $(QUOTE)
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MSG_STRIP_FILE = $(QUOTE) STRIP $(MSG_EXTRA) $(QUOTE)
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MSG_EXTENDED_LISTING = $(QUOTE) LIS $(MSG_EXTRA) $(QUOTE)
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MSG_SYMBOL_TABLE = $(QUOTE) NM $(MSG_EXTRA) $(QUOTE)
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MSG_ARCHIVING = $(QUOTE) AR $(MSG_EXTRA) $(QUOTE)
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MSG_LINKING = $(QUOTE) LD $(MSG_EXTRA) $(QUOTE)
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MSG_COMPILING = $(QUOTE) CC $(MSG_EXTRA) $(QUOTE)
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MSG_COMPILING_ARM = $(QUOTE) CC-ARM $(MSG_EXTRA) $(QUOTE)
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MSG_COMPILINGCXX = $(QUOTE) CXX $(MSG_EXTRA) $(QUOTE)
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MSG_COMPILINGCXX_ARM = $(QUOTE) CXX-ARM $(MSG_EXTRA) $(QUOTE)
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MSG_ASSEMBLING = $(QUOTE) AS $(MSG_EXTRA) $(QUOTE)
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MSG_ASSEMBLING_ARM = $(QUOTE) AS-ARM $(MSG_EXTRA) $(QUOTE)
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MSG_CLEANING = $(QUOTE) CLEAN $(MSG_EXTRA) $(QUOTE)
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MSG_ASMFROMC = $(QUOTE) AS(C) $(MSG_EXTRA) $(QUOTE)
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MSG_ASMFROMC_ARM = $(QUOTE) AS(C)-ARM $(MSG_EXTRA) $(QUOTE)
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MSG_PYMITEINIT = $(QUOTE) PY $(MSG_EXTRA) $(QUOTE)
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MSG_OPFIRMWARE = $(QUOTE) OPFW $(MSG_EXTRA) $(QUOTE)
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MSG_FWINFO = $(QUOTE) FWINFO $(MSG_EXTRA) $(QUOTE)
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MSG_JTAG_PROGRAM = $(QUOTE) JTAG-PGM $(MSG_EXTRA) $(QUOTE)
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MSG_JTAG_WIPE = $(QUOTE) JTAG-WIPE $(MSG_EXTRA) $(QUOTE)
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MSG_PADDING = $(QUOTE) PADDING $(MSG_EXTRA) $(QUOTE)
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MSG_FLASH_IMG = $(QUOTE) FLASH_IMG $(MSG_EXTRA) $(QUOTE)
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# Function for converting an absolute path to one relative
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# to the top of the source tree.
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toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
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# Function to replace special characters like is done for the symbols.
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replace_special_chars = $(subst +,_,$(subst ~,_,$(subst @,_,$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$1)))))))
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# Display compiler version information.
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.PHONY: gccversion
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gccversion:
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@$(CC) --version
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# Create final output file (.hex) from ELF output file.
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%.hex: %.elf
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@$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
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$(V1) $(OBJCOPY) -O ihex $< $@
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# Create stripped output file (.elf.stripped) from ELF output file.
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%.elf.stripped: %.elf
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@$(ECHO) $(MSG_STRIP_FILE) $(call toprel, $@)
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$(V1) $(STRIP) --strip-unneeded $< -o $@
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# Create final output file (.bin) from ELF output file.
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%.bin: %.elf
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@$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
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$(V1) $(OBJCOPY) -O binary $< $@
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%.bin: %.o
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@$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
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$(V1) $(OBJCOPY) -O binary $< $@
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%.bin.o: %.bin
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@$(ECHO) $(MSG_BIN_OBJ) $(call toprel, $@)
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$(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
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--rename-section .data=.rodata,alloc,load,readonly,data,contents \
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--wildcard \
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--redefine-sym _binary_$(call replace_special_chars,$<)_start=_binary_start \
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--redefine-sym _binary_$(call replace_special_chars,$<)_end=_binary_end \
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--redefine-sym _binary_$(call replace_special_chars,$<)_size=_binary_size \
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$< $@
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# Create extended listing file/disassambly from ELF output file.
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# using objdump testing: option -C
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%.lss: %.elf
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@$(ECHO) $(MSG_EXTENDED_LISTING) $(call toprel, $@)
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$(V1) $(OBJDUMP) -h -S -C -r $< > $@
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# Create a symbol table from ELF output file.
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%.sym: %.elf
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@$(ECHO) $(MSG_SYMBOL_TABLE) $(call toprel, $@)
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$(V1) $(NM) -n $< > $@
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define SIZE_TEMPLATE
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.PHONY: size
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size: $(1)_size
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.PHONY: $(1)_size
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$(1)_size: $(1)
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@$(ECHO) $(MSG_SIZE) $$(call toprel, $$<)
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$(V1) $(SIZE) -A $$<
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endef
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# OpenPilot firmware image template
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# $(1) = path to bin file
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# $(2) = boardtype in hex
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# $(3) = board revision in hex
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define OPFW_TEMPLATE
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FORCE:
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$(1).firmware_info.c: $(1) $(ROOT_DIR)/flight/templates/firmware_info.c.template FORCE
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@$(ECHO) $(MSG_FWINFO) $$(call toprel, $$@)
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$(V1) $(VERSION_INFO) \
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--template=$(ROOT_DIR)/flight/templates/firmware_info.c.template \
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--outfile=$$@ \
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--image=$(1) \
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--type=$(2) \
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--revision=$(3) \
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--uavodir=$(ROOT_DIR)/shared/uavobjectdefinition
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$(eval $(call COMPILE_C_TEMPLATE, $(1).firmware_info.c))
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$(OUTDIR)/$(notdir $(basename $(1))).opfw : $(1) $(1).firmware_info.bin
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@$(ECHO) $(MSG_OPFIRMWARE) $$(call toprel, $$@)
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$(V1) $(CAT) $(1) $(1).firmware_info.bin > $$@
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endef
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# Assemble: create object files from assembler source files.
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define ASSEMBLE_TEMPLATE
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$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
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@$(ECHO) $(MSG_ASSEMBLING) $$(call toprel, $$<)
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$(V1) $(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
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endef
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# Assemble: create object files from assembler source files. ARM-only
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define ASSEMBLE_ARM_TEMPLATE
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$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
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@$(ECHO) $(MSG_ASSEMBLING_ARM) $$(call toprel, $$<)
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$(V1) $(CC) -c $$(ASFLAGS) $$< -o $$@
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endef
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# Compile: create object files from C source files.
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define COMPILE_C_TEMPLATE
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$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
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@$(ECHO) $(MSG_COMPILING) $$(call toprel, $$<)
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$(V1) $(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
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endef
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# Compile: create object files from C source files. ARM-only
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define COMPILE_C_ARM_TEMPLATE
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$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
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@$(ECHO) $(MSG_COMPILING_ARM) $$(call toprel, $$<)
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$(V1) $(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
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endef
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# Compile: create object files from C++ source files.
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define COMPILE_CXX_TEMPLATE
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$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
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@$(ECHO) $(MSG_COMPILINGCXX) $$(call toprel, $$<)
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$(V1) $(CXX) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
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endef
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# Compile: create object files from C++ source files. ARM-only
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define COMPILE_CXX_ARM_TEMPLATE
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$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
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@$(ECHO) $(MSG_COMPILINGCXX_ARM) $$(call toprel, $$<)
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$(V1) $(CPP) -c $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
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endef
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# Archive: create ar library file from object files.
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# $1 = library file to produce
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# $2 = list of object files that make up the library file
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# $3 = optional object files directory
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define ARCHIVE_TEMPLATE
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.SECONDARY : $(1)
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.PRECIOUS : $(2)
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$(1): $(2)
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@$(ECHO) $(MSG_ARCHIVING) $$(call toprel, $$@)
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ifeq ($(3),)
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$(V1) $(AR) rcs $$@ $(2)
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else
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# This is a workaround for Windows CreateProcess() line length
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# limitation. It is assumed that if the object files directory
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# is given, all object files are in that directory.
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$(V1) ( \
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pwd=`pwd` && \
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cd $(3) && \
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$(AR) rcs $$@ $(notdir $(2)) && \
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cd $$$${pwd} >/dev/null \
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)
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endif
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endef
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# Link: create ELF output file from object files.
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# $1 = elf file to produce
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# $2 = list of object files that make up the elf file
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# $3 = optional list of libraries to build and link
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define LINK_TEMPLATE
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.SECONDARY : $(1)
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.PRECIOUS : $(2) $(3)
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$(1): $(2) $(3)
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@$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
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$(V1) $(CC) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
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endef
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# Link: create ELF output file from object files.
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# $1 = elf file to produce
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# $2 = list of object files that make up the elf file
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define LINK_CXX_TEMPLATE
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.SECONDARY : $(1)
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.PRECIOUS : $(2) $(3)
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$(1): $(2) $(3)
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@$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
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$(V1) $(CXX) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
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endef
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# Compile: create assembler files from C source files. ARM/Thumb
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define PARTIAL_COMPILE_TEMPLATE
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$($(1):.c=.s) : %.s : %.c
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@$(ECHO) $(MSG_ASMFROMC) $$(call toprel, $$<)
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$(V1) $(CC) $(THUMB) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
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endef
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# Compile: create assembler files from C source files. ARM only
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define PARTIAL_COMPILE_ARM_TEMPLATE
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$($(1):.c=.s) : %.s : %.c
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@$(ECHO) $(MSG_ASMFROMC_ARM) $$(call toprel, $$<)
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$(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
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endef
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# $(1) = Name of binary image to write
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# $(2) = Base of flash region to write/wipe
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# $(3) = Size of flash region to write/wipe
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# $(4) = OpenOCD JTAG interface configuration file to use
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# $(5) = OpenOCD configuration file to use
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define JTAG_TEMPLATE
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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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# debug level
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OOCD_JTAG_SETUP = -d0
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# interface and board/target settings (using the OOCD target-library here)
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OOCD_JTAG_SETUP += -s $(ROOT_DIR)/flight/Project/OpenOCD
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OOCD_JTAG_SETUP += -f $(4) -f $(5)
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# initialize
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OOCD_BOARD_RESET = -c init
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# show the targets
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#OOCD_BOARD_RESET += -c targets
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# commands to prepare flash-write
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OOCD_BOARD_RESET += -c "reset halt"
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.PHONY: program
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program: $(1)
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@$(ECHO) $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
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$(V1) $(OPENOCD) \
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$$(OOCD_JTAG_SETUP) \
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$$(OOCD_BOARD_RESET) \
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-c "flash write_image erase $$< $(2) bin" \
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-c "verify_image $$< $(2) bin" \
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-c "reset run" \
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-c "shutdown"
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.PHONY: wipe
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wipe:
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@$(ECHO) $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
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$(V1) $(OPENOCD) \
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$$(OOCD_JTAG_SETUP) \
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$$(OOCD_BOARD_RESET) \
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-c "flash erase_address pad $(2) $(3)" \
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-c "reset run" \
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-c "shutdown"
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endef
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