mirror of https://github.com/ArduPilot/ardupilot
226 lines
6.6 KiB
Makefile
226 lines
6.6 KiB
Makefile
TOOLCHAIN = AVR
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include $(MK_DIR)/find_arduino.mk
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include $(MK_DIR)/find_tools.mk
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#
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# Tool options
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#
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DEFINES = -DF_CPU=$(F_CPU)
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DEFINES += -DSKETCH=\"$(SKETCH)\"
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DEFINES += $(EXTRAFLAGS) # from user config.mk
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DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD)
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WARNFLAGS = -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align
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WARNFLAGS += -Wwrite-strings -Wformat=2
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WARNFLAGSCXX = -Wno-reorder
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DEPFLAGS = -MD -MT $@
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CXXOPTS = -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char
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COPTS = -ffunction-sections -fdata-sections -fsigned-char
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ASOPTS = -x assembler-with-cpp
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LISTOPTS = -adhlns=$(@:.o=.lst)
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NATIVE_CPUFLAGS = -D_GNU_SOURCE
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NATIVE_CPULDFLAGS = -g
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NATIVE_OPTFLAGS = -O0 -g
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AVR_CPUFLAGS = -mmcu=$(MCU) -mcall-prologues
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AVR_CPULDFLAGS = -Wl,-m,avr6
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AVR_OPTFLAGS = -Os
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CPUFLAGS= $($(TOOLCHAIN)_CPUFLAGS)
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CPULDFLAGS= $($(TOOLCHAIN)_CPULDFLAGS)
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OPTFLAGS= $($(TOOLCHAIN)_OPTFLAGS)
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CXXFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(OPTFLAGS)
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CXXFLAGS += $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(CXXOPTS)
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CFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(OPTFLAGS)
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CFLAGS += $(WARNFLAGS) $(DEPFLAGS) $(COPTS)
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ASFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(DEPFLAGS)
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ASFLAGS += $(ASOPTS)
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LDFLAGS = -g $(CPUFLAGS) $(OPTFLAGS) $(WARNFLAGS)
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LDFLAGS += -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP)
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ifneq ($(BOARD),mega)
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LDFLAGS += $(CPULDFLAGS)
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endif
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# under certain situations with certain avr-gcc versions the --relax flag causes
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# a bug. Give the user a way to disable this flag per-sketch.
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# I know this is a rotten hack but we're really close to sunset on AVR.
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EXCLUDE_RELAX := $(wildcard $(SRCROOT)/norelax.inoflag)
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ifeq ($(EXCLUDE_RELAX),)
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LDFLAGS += -Wl,--relax
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endif
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LIBS = -lm
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ifeq ($(VERBOSE),)
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v = @
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else
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v =
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endif
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# Library object files
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LIBOBJS := $(SKETCHLIBOBJS)
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# Find the hardware directory to use
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HARDWARE_DIR := $(firstword $(wildcard $(SKETCHBOOK)/hardware/$(HARDWARE) \
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$(ARDUINO)/hardware/$(HARDWARE)))
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ifeq ($(HARDWARE_DIR),)
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$(error ERROR: hardware directory for $(HARDWARE) not found)
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endif
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# Find the boards.txt that we are using
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BOARDFILE := $(wildcard $(HARDWARE_DIR)/boards.txt)
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ifeq ($(BOARDFILE),)
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$(error ERROR: could not locate boards.txt for hardware $(HARDWARE))
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endif
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# Extract needed build parameters from the boardfile
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MCU := $(shell grep $(BOARD).build.mcu $(BOARDFILE) | cut -d = -f 2)
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F_CPU := $(shell grep $(BOARD).build.f_cpu $(BOARDFILE) | cut -d = -f 2)
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HARDWARE_CORE := $(shell grep $(BOARD).build.core $(BOARDFILE) | cut -d = -f 2)
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UPLOAD_SPEED := $(shell grep $(BOARD).upload.speed $(BOARDFILE) | cut -d = -f 2)
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# User can define USERAVRDUDEFLAGS = -V in their config.mk to skip verification
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USERAVRDUDEFLAGS ?=
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#make sure the avrdude conf file is referenced correctly in cygwin
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ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
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USERAVRDUDEFLAGS := -C $(ARDUINO)/hardware/tools/avr/etc/avrdude.conf
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endif
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#make sure the avrdude conf file is referenced correctly in mingw
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ifneq ($(findstring MINGW, $(SYSTYPE)),)
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USERAVRDUDEFLAGS := -C $(ARDUINO)/hardware/tools/avr/etc/avrdude.conf
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endif
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#make sure the avrdude conf file is referenced correctly in darwin
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ifneq ($(findstring Darwin, $(SYSTYPE)),)
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USERAVRDUDEFLAGS := -C $(ARDUINO)/hardware/tools/avr/etc/avrdude.conf
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endif
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ifeq ($(UPLOAD_PROTOCOL),)
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UPLOAD_PROTOCOL := $(shell grep $(BOARD).upload.protocol $(BOARDFILE) | cut -d = -f 2)
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endif
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# Adding override for mega since boards.txt uses stk500 instead of
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# arduino on 22 release
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ifeq ($(BOARD),mega)
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UPLOAD_PROTOCOL := arduino
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endif
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#On Cygwin, the wiring programmer will perform the DTR reset for us
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ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
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UPLOAD_PROTOCOL := wiring
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endif
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ifeq ($(MCU),)
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$(error ERROR: Could not locate board $(BOARD) in $(BOARDFILE))
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endif
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################################################################################
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# Built products
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#
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# The ELF file
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SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
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# HEX file
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SKETCHHEX = $(BUILDROOT)/$(SKETCH).hex
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# EEP file
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SKETCHEEP = $(BUILDROOT)/$(SKETCH).eep
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# Map file
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SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
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# All of the objects that may be built
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ALLOBJS = $(SKETCHOBJS) $(LIBOBJS)
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# All of the dependency files that may be generated
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ALLDEPS = $(ALLOBJS:%.o=%.d)
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################################################################################
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# Targets
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#
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all: $(SKETCHELF) $(SKETCHEEP) $(SKETCHHEX)
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print-%:
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echo "$*=$($*)"
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.PHONY: upload
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upload: $(SKETCHHEX)
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$(AVRDUDE) -c $(UPLOAD_PROTOCOL) -p $(MCU) -P $(PORT) -b$(UPLOAD_SPEED) $(USERAVRDUDEFLAGS) -U flash:w:$(SKETCHHEX):i
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debug:
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$(AVARICE) --mkII --capture --jtag usb :4242 & \
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gnome-terminal -x $(GDB) $(SKETCHELF) & \
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echo -e '\n\nat the gdb prompt type "target remote localhost:4242"'
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# this allows you to flash your image via JTAG for when you
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# have completely broken your USB
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jtag-program:
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$(AVARICE) --mkII --jtag usb --erase --program --file $(SKETCHELF)
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################################################################################
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# Rules
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#
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# fetch dependency info from a previous build if any of it exists
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-include $(ALLDEPS)
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# Link the final object
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$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
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$(RULEHDR)
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$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
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# Create the hex file
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$(SKETCHHEX): $(SKETCHELF)
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$(RULEHDR)
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$(v)$(OBJCOPY) -O ihex -R .eeprom $< $@
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# Create the eep file
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$(SKETCHEEP): $(SKETCHELF)
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$(RULEHDR)
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$(v)$(OBJCOPY) -O ihex -j.eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0 $< $@
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#
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# Build sketch objects
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#
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SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
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$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< -I$(SRCROOT) $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.c
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$(RULEHDR)
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$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.S
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$(RULEHDR)
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$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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#
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# Build library objects from sources in the sketchbook
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#
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SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
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$(RULEHDR)
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$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
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$(RULEHDR)
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$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
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