mirror of https://github.com/ArduPilot/ardupilot
waf: moved to generated loader script
This commit is contained in:
Andrew Tridgell
parent
6e4ef32628
commit
2978649cd4
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@ -253,6 +253,8 @@ class chibios(Board):
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def configure_env(self, cfg, env):
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super(chibios, self).configure_env(cfg, env)
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env.BOARD = self.name
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env.DEFINES.update(
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CONFIG_HAL_BOARD = 'HAL_BOARD_CHIBIOS',
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HAVE_OCLOEXEC = 0,
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@ -314,6 +316,9 @@ class chibios(Board):
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'-mfloat-abi=hard'
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]
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bldnode = cfg.bldnode.make_node(self.name)
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env.BUILDROOT = bldnode.make_node('').abspath()
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env.LINKFLAGS = [
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'-mcpu=cortex-m4',
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'-Os',
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@ -336,6 +341,9 @@ class chibios(Board):
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'-mfpu=fpv4-sp-d16',
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'-mno-thumb-interwork',
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'-mthumb',
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'-L%s' % cfg.srcnode.make_node('modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/ld/').abspath(),
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'-L%s' % cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/common/').abspath(),
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'-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=%s/ldscript.ld,--defsym=__process_stack_size__=0x400,--defsym=__main_stack_size__=0x400' % env.BUILDROOT,
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]
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env.LIB += ['gcc', 'm']
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@ -355,13 +363,6 @@ class skyviper_f412(chibios):
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412',
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)
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env.BOARD = 'skyviper-f412'
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env.LINKFLAGS += [
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'-L%s'\
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% cfg.srcnode.make_node('modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/ld/').abspath(),
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'-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=%s,--defsym=__process_stack_size__=0x400,--defsym=__main_stack_size__=0x400'\
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% cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/%s/ldscript.ld' % env.BOARD).abspath(),
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]
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class fmuv3(chibios):
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name = 'fmuv3'
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@ -370,13 +371,6 @@ class fmuv3(chibios):
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3',
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)
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env.BOARD = 'fmuv3'
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env.LINKFLAGS += [
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'-L%s'\
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% cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/').abspath(),
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'-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=%s,--defsym=__process_stack_size__=0x400,--defsym=__main_stack_size__=0x400'\
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% cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/%s/ldscript.ld' % env.BOARD).abspath(),
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]
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class fmuv4(chibios):
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name = 'fmuv4'
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@ -385,13 +379,6 @@ class fmuv4(chibios):
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4',
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)
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env.BOARD = 'fmuv4'
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env.LINKFLAGS += [
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'-L%s'\
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% cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/').abspath(),
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'-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=%s,--defsym=__process_stack_size__=0x400,--defsym=__main_stack_size__=0x400'\
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% cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/%s/ldscript.ld' % env.BOARD).abspath(),
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]
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class mindpx_v2(chibios):
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name = 'mindpx-v2'
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@ -400,13 +387,6 @@ class mindpx_v2(chibios):
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_CHIBIOS_MINDPXV2',
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)
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env.BOARD = 'mindpx-v2'
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env.LINKFLAGS += [
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'-L%s'\
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% cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/').abspath(),
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'-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=%s,--defsym=__process_stack_size__=0x400,--defsym=__main_stack_size__=0x400'\
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% cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/%s/ldscript.ld' % env.BOARD).abspath(),
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]
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class linux(Board):
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def configure_env(self, cfg, env):
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@ -127,23 +127,25 @@ def configure(cfg):
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env.BOARD_MK = mk_custom
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else:
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env.BOARD_MK = mk_common
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print("BOARD_MK=%s" % env.BOARD_MK)
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if cfg.options.default_parameters:
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cfg.msg('Default parameters', cfg.options.default_parameters, color='YELLOW')
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env.DEFAULT_PARAMETERS = srcpath(cfg.options.default_parameters)
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import subprocess
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hwdef = srcpath('libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % env.BOARD)
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hwdef_script = srcpath('libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py')
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hwdef_out = env.BUILDROOT
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if not os.path.exists(hwdef_out):
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os.mkdir(hwdef_out)
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try:
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cmd = 'python %s -D %s %s' % (hwdef_script, hwdef_out, hwdef)
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ret = subprocess.call(cmd, shell=True)
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except Exception:
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print("Failed to generate hwdef.h")
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def build(bld):
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bld(
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# build hwdef.h and apj.prototype from hwdef.dat
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source='libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % bld.env.get_flat('BOARD'),
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rule='python ${AP_HAL_ROOT}/hwdef/scripts/chibios_hwdef.py -D ${BUILDROOT} ${AP_HAL_ROOT}/hwdef/${BOARD}/hwdef.dat',
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group='dynamic_sources',
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target=['hwdef.h', 'apj.prototype']
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)
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bld(
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# create the file modules/ChibiOS/include_dirs
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rule='touch Makefile && BUILDDIR=${BUILDDIR} CHIBIOS=${CH_ROOT} AP_HAL=${AP_HAL_ROOT} ${MAKE} pass -f ${BOARD_MK}',
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@ -0,0 +1,192 @@
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/*
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ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/*
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this file is included by the board specific ldscript.ld which is
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generated from hwdef.dat
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*/
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/* RAM region to be used for Main stack. This stack accommodates the processing
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of all exceptions and interrupts*/
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REGION_ALIAS("MAIN_STACK_RAM", ram0);
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/* RAM region to be used for the process stack. This is the stack used by
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the main() function.*/
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REGION_ALIAS("PROCESS_STACK_RAM", ram0);
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/* RAM region to be used for data segment.*/
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REGION_ALIAS("DATA_RAM", ram0);
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/* RAM region to be used for BSS segment.*/
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REGION_ALIAS("BSS_RAM", ram0);
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/* RAM region to be used for the default heap.*/
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REGION_ALIAS("HEAP_RAM", ram0);
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__ram0_start__ = ORIGIN(ram0);
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__ram0_size__ = LENGTH(ram0);
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__ram0_end__ = __ram0_start__ + __ram0_size__;
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ENTRY(Reset_Handler)
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SECTIONS
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{
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. = 0;
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_text = .;
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startup : ALIGN(16) SUBALIGN(16)
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{
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KEEP(*(.vectors))
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} > flash
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constructors : ALIGN(4) SUBALIGN(4)
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{
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__init_array_start = .;
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KEEP(*(SORT(.init_array.*)))
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KEEP(*(.init_array))
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__init_array_end = .;
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} > flash
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destructors : ALIGN(4) SUBALIGN(4)
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{
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__fini_array_start = .;
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KEEP(*(.fini_array))
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KEEP(*(SORT(.fini_array.*)))
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__fini_array_end = .;
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} > flash
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.text : ALIGN(16) SUBALIGN(16)
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{
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*(.text)
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*(.text.*)
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*(.rodata)
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*(.rodata.*)
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*(.glue_7t)
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*(.glue_7)
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*(.gcc*)
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} > flash
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.ARM.extab :
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{
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*(.ARM.extab* .gnu.linkonce.armextab.*)
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} > flash
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.ARM.exidx : {
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__exidx_start = .;
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*(.ARM.exidx* .gnu.linkonce.armexidx.*)
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__exidx_end = .;
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} > flash
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.eh_frame_hdr :
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{
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*(.eh_frame_hdr)
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} > flash
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.eh_frame : ONLY_IF_RO
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{
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*(.eh_frame)
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} > flash
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.textalign : ONLY_IF_RO
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{
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. = ALIGN(8);
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} > flash
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/* Legacy symbol, not used anywhere.*/
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. = ALIGN(4);
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PROVIDE(_etext = .);
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/* Special section for exceptions stack.*/
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.mstack :
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{
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. = ALIGN(8);
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__main_stack_base__ = .;
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. += __main_stack_size__;
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. = ALIGN(8);
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__main_stack_end__ = .;
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} > MAIN_STACK_RAM
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/* Special section for process stack.*/
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.pstack :
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{
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__process_stack_base__ = .;
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__main_thread_stack_base__ = .;
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. += __process_stack_size__;
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. = ALIGN(8);
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__process_stack_end__ = .;
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__main_thread_stack_end__ = .;
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} > PROCESS_STACK_RAM
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.data : ALIGN(4)
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{
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. = ALIGN(4);
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PROVIDE(_textdata = LOADADDR(.data));
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PROVIDE(_data = .);
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_textdata_start = LOADADDR(.data);
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_data_start = .;
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*(.data)
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*(.data.*)
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*(.ramtext)
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. = ALIGN(4);
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PROVIDE(_edata = .);
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_data_end = .;
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} > DATA_RAM AT > flash
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.bss (NOLOAD) : ALIGN(4)
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{
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. = ALIGN(4);
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_bss_start = .;
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*(.bss)
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*(.bss.*)
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*(COMMON)
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. = ALIGN(4);
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_bss_end = .;
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PROVIDE(end = .);
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} > BSS_RAM
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.ram0_init : ALIGN(4)
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{
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. = ALIGN(4);
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__ram0_init_text__ = LOADADDR(.ram0_init);
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__ram0_init__ = .;
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*(.ram0_init)
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*(.ram0_init.*)
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. = ALIGN(4);
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} > ram0 AT > flash
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.ram0 (NOLOAD) : ALIGN(4)
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{
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. = ALIGN(4);
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__ram0_clear__ = .;
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*(.ram0_clear)
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*(.ram0_clear.*)
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. = ALIGN(4);
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__ram0_noinit__ = .;
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*(.ram0)
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*(.ram0.*)
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. = ALIGN(4);
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__ram0_free__ = .;
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} > ram0
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/* The default heap uses the (statically) unused part of a RAM section.*/
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.heap (NOLOAD) :
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{
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. = ALIGN(8);
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__heap_base__ = .;
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. = ORIGIN(HEAP_RAM) + LENGTH(HEAP_RAM);
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__heap_end__ = .;
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} > HEAP_RAM
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}
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