mirror of https://github.com/ArduPilot/ardupilot
418 lines
13 KiB
Makefile
418 lines
13 KiB
Makefile
############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Common Makefile for nsh command modules and utility libraries; should be
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# included by the module-specific Makefile.
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#
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# To build an app that appears as an nsh external command, the caller
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# must define:
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#
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# LIBNAME - the name of the library, defaults to the name of the
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# directory
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#
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# The calling makefile may also set:
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#
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# ASRCS - list of assembly source files, defaults to all .S
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# files in the directory
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#
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# CSRCS - list of C source files, defaults to all .c files
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# in the directory
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#
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# CXXSRCS - list of C++ source files, defaults to all .cpp
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# files in the directory
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#
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# INCLUDES - list of directories to be added to the include
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# search path
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#
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# PRIORITY - thread priority for the command (defaults to
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# SCHED_PRIORITY_DEFAULT)
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#
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# STACKSIZE - stack size for the command (defaults to 4096)
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#
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# Symbols in the module are private to the module unless deliberately exported
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# using the __EXPORT tag.
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#
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############################################################################
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# No user-serviceable parts below
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############################################################################
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# build the variables to emulate Arduino.mk build system
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SRCROOT := $(realpath $(dir $(firstword $(MAKEFILE_LIST))))
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SKETCH := $(lastword $(subst /, ,$(SRCROOT)))
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# this is where we put the generated cpp file, created from the *.pde/*.ino
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TMPDIR ?= /tmp
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BUILDROOT := $(abspath $(TMPDIR)/$(SKETCH).build)
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HARDWARE ?= px4
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AWK ?= gawk
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SRCSUFFIXES = *.cpp *.c *.S
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SKETCHPDESRCS := $(wildcard $(SRCROOT)/*.pde $(SRCROOT)/*.ino)
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SKETCHSRCS := $(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
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SKETCHPDE := $(wildcard $(SRCROOT)/$(SKETCH).pde $(SRCROOT)/$(SKETCH).ino)
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SKETCHCPP := $(BUILDROOT)/$(SKETCH).cpp
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ifneq ($(words $(SKETCHPDE)),1)
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$(error ERROR: sketch $(SKETCH) must contain exactly one of $(SKETCH).pde or $(SKETCH).ino)
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endif
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# Sketch object files
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SKETCHOBJS := $(subst $(SRCROOT),$(BUILDROOT),$(SKETCHSRCS)) $(SKETCHCPP)
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SKETCHOBJS := $(addsuffix .o,$(basename $(SKETCHOBJS)))
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# List of input files to the sketch.cpp file in the order they should
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# be appended to create it
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SKETCHCPP_SRC := $(SKETCHPDE) $(sort $(filter-out $(SKETCHPDE),$(SKETCHPDESRCS)))
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################################################################################
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# Libraries
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#
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# Pick libraries to add to the include path and to link with based on
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# #include directives in the sketchfiles.
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#
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# For example:
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#
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# #include <Foo.h>
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#
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# implies that there might be a Foo library.
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#
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# Note that the # and $ require special treatment to avoid upsetting
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# make.
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#
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SYSTYPE := $(shell uname)
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SEXPR = 's/^[[:space:]]*\#include[[:space:]][<\"]([^>\"./]+).*$$/\1/p'
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ifeq ($(SYSTYPE),Darwin)
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LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nEe $(SEXPR)))
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else
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LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nre $(SEXPR)))
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endif
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ifeq ($(SYSTYPE),Darwin)
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# use BWK awk
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AWK = awk
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endif
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#
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# Find sketchbook libraries referenced by the sketch.
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#
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# Include paths for sketch libraries
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#
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SKETCHBOOK=$(MK_DIR)/..
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SKETCHLIBS := $(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
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SKETCHLIBNAMES := $(notdir $(SKETCHLIBS))
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SKETCHLIBSRCDIRS := $(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
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SKETCHLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
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SKETCHLIBOBJS := $(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
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SKETCHLIBINCLUDES := $(addprefix -I,$(SKETCHLIBS))
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# add sketch libs to includes
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INCLUDES += $(SKETCHLIBS)
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# Library object files
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LIBOBJS := $(SKETCHLIBOBJS)
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# common header for rules, prints what is being built
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define RULEHDR
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@echo %% $(subst $(BUILDROOT)/,,$@)
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@mkdir -p $(dir $@)
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endef
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############################################################################
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# Work out who included us so we can report decent errors
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#
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THIS_MAKEFILE := $(lastword $(MAKEFILE_LIST))
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PARENT_MAKEFILE := $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
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############################################################################
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# Get configuration
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#
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-include $(TOPDIR)/.config
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-include $(TOPDIR)/Make.defs
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include $(APPDIR)/Make.defs
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# this allows us to generate the main function
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SKETCHFLAGS = -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME=\"$(SKETCH)\" -DSKETCH_MAIN=$(SKETCH)_main
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CFLAGS += $(SKETCHFLAGS)
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CXXFLAGS += $(SKETCHFLAGS)
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############################################################################
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# Sanity-check the information we've been given and set any defaults
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#
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SRCDIR ?= $(dir $(PARENT_MAKEFILE))
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PRIORITY ?= SCHED_PRIORITY_DEFAULT
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STACKSIZE ?= 4096
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INCLUDES += $(APPDIR)
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ASRCS ?= $(wildcard $(SRCDIR)/*.S)
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CSRCS ?= $(wildcard $(SRCDIR)/*.c)
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CXXSRCS ?= $(wildcard $(SRCDIR)/*.cpp) $(SKETCHCPP)
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PDESRCS ?= $(wildcard $(SRCDIR)/*.pde)
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APPNAME = $(SKETCH)
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# there has to be a source file
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ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS)$(PDESRCS),)
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$(error $(realpath $(PARENT_MAKEFILE)): at least one of ASRCS, CSRCS, CXXSRCS or PDESRCS must be set)
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endif
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# check that C++ is configured if we have C++ source files and we are building
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ifneq ($(CXXSRCS),)
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ifneq ($(CONFIG_HAVE_CXX),y)
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ifeq ($(MAKECMDGOALS),build)
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$(error $(realpath $(PARENT_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
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endif
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endif
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endif
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############################################################################
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# Adjust compilation flags to implement EXPORT
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#
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CFLAGS += -fsigned-char -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
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CXXFLAGS += -fsigned-char -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
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############################################################################
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# Add extra include directories
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#
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CFLAGS += $(addprefix -I,$(INCLUDES))
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CXXFLAGS += $(addprefix -I,$(INCLUDES))
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############################################################################
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# Things we are going to build
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#
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SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS)
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AOBJS = $(patsubst %.S,%.o,$(ASRCS))
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COBJS = $(patsubst %.c,%.o,$(CSRCS))
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CXXOBJS = $(patsubst %.cpp,%.o,$(CXXSRCS))
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OBJS = $(AOBJS) $(COBJS) $(CXXOBJS) $(SKETCHLIBOBJS)
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# The prelinked object that we are ultimately going to build
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ifneq ($(APPNAME),)
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PRELINKOBJ = $(APPNAME).pre.o
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else
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PRELINKOBJ = $(LIBNAME).pre.o
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endif
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# The archive that the object file will be placed in
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# XXX does WINTOOL ever get set?
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ifeq ($(WINTOOL),y)
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INCDIROPT = -w
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BIN = "$(shell cygpath -w $(APPDIR)/libapps$(LIBEXT))"
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else
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BIN = "$(APPDIR)/libapps$(LIBEXT)"
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endif
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############################################################################
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# Rules for building things
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#
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all: .built
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.PHONY: clean depend distclean
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#
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# Top-level build; add prelinked object to the apps archive
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#
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.built: $(PRELINKOBJ)
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$(RULEHDR)
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@$(call ARCHIVE, $(BIN), $(PRELINKOBJ))
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@touch $@
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#
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# Source dependencies
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#
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depend: .depend
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.depend: $(MAKEFILE_LIST) $(SRCS)
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@$(CXX) -M -MT $(BUILDROOT)/$(SKETCH).o $(CXXFLAGS) $(CXXSRCS) > Make.dep
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@for f in $(SKETCHLIBSRCS); do \
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src=$${f##$(SKETCHBOOK)/}; \
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obj=$(BUILDROOT)/$${src%.*}.o; \
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$(CXX) -M -MT $$obj $(CXXFLAGS) $$f; done >> Make.dep
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@touch $@
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ifneq ($(APPNAME),)
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#
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# App registration
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#
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context: .context
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.context: $(MAKEFILE_LIST)
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$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
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@touch $@
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else
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context:
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endif
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#
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# Object files
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#
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$(PRELINKOBJ): $(OBJS)
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$(call PRELINK, $@, $(OBJS))
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$(AOBJS): %.o : %.S
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$(call ASSEMBLE, $<, $@)
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$(COBJS): %.o : %.c
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$(call COMPILE, $<, $@)
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$(CXXOBJS): %.o : %.cpp
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$(call COMPILEXX, $<, $@)
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#
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# Tidying up
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#
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clean:
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@rm -f $(OBJS) $(PRELINKOBJ) Make.dep .built
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$(call CLEAN)
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distclean: clean
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@rm -f Make.dep .depend
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#
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# Build the sketch.cpp file
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#
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# This process strives to be as faithful to the Arduino implementation as
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# possible. Conceptually, the process is as follows:
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#
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# * All of the .pde/.ino files are concatenated, starting with the file named
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# for the sketch and followed by the others in alphabetical order.
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# * An insertion point is created in the concatenated file at
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# the first statement that isn't a preprocessor directive or comment.
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# * An include of "WProgram.h" is inserted at the insertion point.
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# * The file following the insertion point is scanned for function definitions
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# and prototypes for these functions are inserted at the insertion point.
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#
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# In addition, we add #line directives wherever the originating file changes
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# to help backtrack from compiler messages and in the debugger.
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#
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$(SKETCHCPP): $(SKETCHCPP_SRC)
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$(RULEHDR)
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$(v)$(AWK) -v mode=header '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) > $@
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$(v)echo "#line 1 \"autogenerated\"" >> $@
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$(v)$(AWK) '$(SKETCH_PROTOTYPER)' $(SKETCHCPP_SRC) >> $@
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$(v)$(AWK) -v mode=body '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) >> $@
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# delete the sketch.cpp file if a processing error occurs
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.DELETE_ON_ERROR: $(SKETCHCPP)
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#
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# The sketch splitter is an awk script used to split off the
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# header and body of the concatenated .pde/.ino files. It also
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# inserts #line directives to help in backtracking from compiler
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# and debugger messages to the original source file.
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#
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# Note that # and $ require special treatment here to avoid upsetting
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# make.
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#
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# This script requires BWK or GNU awk.
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#
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define SKETCH_SPLITTER
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BEGIN { \
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scanning = 1; \
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printing = (mode ~ "header") ? 1 : 0; \
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} \
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{ toggles = 1 } \
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(FNR == 1) && printing { \
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printf "#line %d \"%s\"\n", FNR, FILENAME; \
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} \
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/^[[:space:]]*\/\*/,/\*\// { \
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toggles = 0; \
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} \
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/^[[:space:]]*$$/ || /^[[:space:]]*\/\/.*/ || /^\#.*$$/ { \
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toggles = 0; \
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} \
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scanning && toggles { \
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scanning = 0; \
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printing = !printing; \
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if (printing) { \
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printf "#line %d \"%s\"\n", FNR, FILENAME; \
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} \
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} \
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printing
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endef
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#
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# The prototype scanner is an awk script used to generate function
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# prototypes from the concantenated .pde/.ino files.
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#
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# Function definitions are expected to follow the form
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#
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# <newline><type>[<qualifier>...]<name>([<arguments>]){
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#
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# with whitespace permitted between the various elements. The pattern
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# is assembled from separate subpatterns to make adjustments easier.
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#
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# Note that $ requires special treatment here to avoid upsetting make,
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# and backslashes are doubled in the partial patterns to satisfy
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# escaping rules.
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#
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# This script requires BWK or GNU awk.
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#
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define SKETCH_PROTOTYPER
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BEGIN { \
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RS="{"; \
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type = "((\\n)|(^))[[:space:]]*[[:alnum:]_]+[[:space:]]+"; \
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qualifiers = "([[:alnum:]_\\*&]+[[:space:]]*)*"; \
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name = "[[:alnum:]_]+[[:space:]]*"; \
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args = "\\([[:space:][:alnum:]_,&\\*\\[\\]]*\\)"; \
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bodycuddle = "[[:space:]]*$$"; \
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pattern = type qualifiers name args bodycuddle; \
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} \
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match($$0, pattern) { \
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proto = substr($$0, RSTART, RLENGTH); \
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gsub("\n", " ", proto); \
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printf "%s;\n", proto; \
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}
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endef
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
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$(RULEHDR)
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$(call COMPILEXX, $<, $@)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
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$(RULEHDR)
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$(call COMPILE, $<, $@)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
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$(RULEHDR)
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$(call ASSEMBLE, $<, $@)
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-include Make.dep
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