mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-11 01:54:14 +01:00
a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
275 lines
9.2 KiB
Makefile
275 lines
9.2 KiB
Makefile
#
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# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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ifndef OPENPILOT_IS_COOL
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$(error Top level Makefile must be used to build this target)
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endif
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# Set to YES to compile for debugging
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DEBUG ?= NO
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# Set to YES to use the Servo output pins for debugging via scope or logic analyser
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ENABLE_DEBUG_PINS ?= NO
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# Set to YES to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
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ENABLE_AUX_UART ?= NO
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# Include objects that are just nice information to show
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DIAG_STACK ?= NO
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DIAG_MIXERSTATUS ?= NO
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DIAG_RATEDESIRED ?= NO
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DIAG_I2C_WDG_STATS ?= NO
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DIAG_TASKS ?= NO
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# Or just turn on all the above diagnostics. WARNING: this consumes massive amounts of memory.
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DIAG_ALL ?= NO
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# Note: 3 is not always the best optimization level.
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ifeq ($(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 -U options for C here.
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CDEFS += -DUSE_$(BOARD)
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ifeq ($(ENABLE_DEBUG_PINS), YES)
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CDEFS += -DPIOS_ENABLE_DEBUG_PINS
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endif
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ifeq ($(ENABLE_AUX_UART), YES)
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CDEFS += -DPIOS_ENABLE_AUX_UART
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endif
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# The following Makefile command, ifneq (,$(filter) $(A), $(B) $(C))
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# is equivalent to the pseudocode `if (A == B || A == C)`
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ifneq (,$(filter YES,$(DIAG_STACK) $(DIAG_ALL)))
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CFLAGS += -DDIAG_STACK
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endif
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ifneq (,$(filter YES,$(DIAG_MIXERSTATUS) $(DIAG_ALL)))
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CFLAGS += -DDIAG_MIXERSTATUS
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endif
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ifneq (,$(filter YES,$(DIAG_RATEDESIRED) $(DIAG_ALL)))
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CFLAGS += -DDIAG_RATEDESIRED
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endif
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ifneq (,$(filter YES,$(DIAG_I2C_WDG_STATS) $(DIAG_ALL)))
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CFLAGS += -DDIAG_I2C_WDG_STATS
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endif
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ifneq (,$(filter YES,$(DIAG_TASKS) $(DIAG_ALL)))
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CFLAGS += -DDIAG_TASKS
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endif
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# Place project-specific -D and/or -U options for Assembler with preprocessor here.
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#ADEFS = -DUSE_IRQ_ASM_WRAPPER
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ADEFS = -D__ASSEMBLY__
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# Provide board-specific defines
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CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
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CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
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CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
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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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# Compiler flags.
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#
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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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# Common architecture-specific flags from the device-specific library makefile
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CFLAGS += $(ARCHFLAGS)
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CFLAGS += $(CDEFS)
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CFLAGS += -O$(OPT)
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CFLAGS += -g$(DEBUGF)
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CFLAGS += -mapcs-frame
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CFLAGS += -fomit-frame-pointer
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CFLAGS += -Wall -Wextra
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CFLAGS += -Wfloat-equal -Wunsuffixed-float-constants -Wdouble-promotion
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CFLAGS += -Werror
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CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
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CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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ifeq ($(DEBUG), YES)
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CFLAGS += -DDEBUG
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else
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CFLAGS += -fdata-sections -ffunction-sections
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endif
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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) -I. -x assembler-with-cpp
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ASFLAGS += $(ADEFS)
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ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
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ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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# Linker flags.
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# -Wl,...: tell GCC to pass this to linker.
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# -Map: create map file
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# --cref: add cross reference to map file
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LDFLAGS += -nostartfiles
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LDFLAGS += -Wl,--warn-common,--fatal-warnings,--sort-common,--sort-section=alignment,--gc-sections
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LDFLAGS += -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref
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LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
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LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
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LDFLAGS += -lc -lgcc
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ifneq ($(DEBUG), YES)
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LDFLAGS += -Wl,-static
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endif
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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))) $(EXTRAOBJ)
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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, $(ALLSRCBASE)))
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# Default target.
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all: build
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ifeq ($(LOADFORMAT),ihex)
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build: elf hex sym
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else ifeq ($(LOADFORMAT),binary)
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build: elf bin sym
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else ifeq ($(LOADFORMAT),both)
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build: elf hex bin sym
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else
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$(error "$(MSG_FORMATERROR) $(FORMAT)")
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endif
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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 $(FLIGHTPLANS)/test.py
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# Link: create ELF output file from object files.
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$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
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# Assemble: create object files from assembler source files.
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$(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 $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
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# Add opfw target
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$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
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$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
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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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# Target: clean project
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clean:
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@echo $(MSG_CLEANING)
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).map
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).elf
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).hex
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).sym
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).lss
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin.o
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$(V1) $(RM) -f $(OUTDIR)/$(TARGET).opfw
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$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.c)
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$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.h)
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$(V1) $(RM) -f $(ALLOBJ)
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$(V1) $(RM) -f $(LSTFILES)
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$(V1) $(RM) -f $(DEPFILES)
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$(V1) $(RM) -f $(SRC:.c=.s)
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$(V1) $(RM) -f $(SRCARM:.c=.s)
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$(V1) $(RM) -f $(CPPSRC:.cpp=.s)
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$(V1) $(RM) -f $(CPPSRCARM:.cpp=.s)
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# Create output files directory
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# all known MS Windows OS define the ComSpec environment variable
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$(shell $(MKDIR) -p $(OUTDIR) 2>/dev/null)
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# Include the dependency files.
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-include $(shell $(MKDIR) -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
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# Listing of phony targets.
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.PHONY: all build clean install
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