mirror of https://github.com/ArduPilot/ardupilot
332 lines
8.0 KiB
Makefile
332 lines
8.0 KiB
Makefile
# ARM Cortex-Mx common makefile scripts and rules.
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##############################################################################
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# Processing options coming from the upper Makefile.
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#
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# Compiler options
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OPT := $(USE_OPT)
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COPT := $(USE_COPT)
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CPPOPT := $(USE_CPPOPT)
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# Garbage collection
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ifeq ($(USE_LINK_GC),yes)
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OPT += -ffunction-sections -fdata-sections -fno-common
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LDOPT := ,--gc-sections
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else
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LDOPT :=
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endif
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# Linker extra options
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ifneq ($(USE_LDOPT),)
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LDOPT := $(LDOPT),$(USE_LDOPT)
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endif
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# Link time optimizations
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ifeq ($(USE_LTO),yes)
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OPT += -flto
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endif
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# FPU options default (Cortex-M4 and Cortex-M7 single precision).
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ifeq ($(USE_FPU_OPT),)
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USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16 -fsingle-precision-constant
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endif
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# FPU-related options
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ifeq ($(USE_FPU),)
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USE_FPU = no
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endif
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ifneq ($(USE_FPU),no)
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OPT += $(USE_FPU_OPT)
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DDEFS += -DCORTEX_USE_FPU=TRUE
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DADEFS += -DCORTEX_USE_FPU=TRUE
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else
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DDEFS += -DCORTEX_USE_FPU=FALSE
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DADEFS += -DCORTEX_USE_FPU=FALSE
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endif
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# Process stack size
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ifeq ($(USE_PROCESS_STACKSIZE),)
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LDOPT := $(LDOPT),--defsym=__process_stack_size__=0x400
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else
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LDOPT := $(LDOPT),--defsym=__process_stack_size__=$(USE_PROCESS_STACKSIZE)
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endif
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# Exceptions stack size
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ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
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LDOPT := $(LDOPT),--defsym=__main_stack_size__=0x400
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else
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LDOPT := $(LDOPT),--defsym=__main_stack_size__=$(USE_EXCEPTIONS_STACKSIZE)
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endif
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# Output directory and files
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ifeq ($(BUILDDIR),)
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BUILDDIR = build
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endif
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ifeq ($(BUILDDIR),.)
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BUILDDIR = build
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endif
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OUTFILES := $(BUILDDIR)/$(PROJECT).elf \
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$(BUILDDIR)/$(PROJECT).hex \
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$(BUILDDIR)/$(PROJECT).bin \
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$(BUILDDIR)/$(PROJECT).dmp \
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$(BUILDDIR)/$(PROJECT).list
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ifdef SREC
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OUTFILES += $(BUILDDIR)/$(PROJECT).srec
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endif
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# Source files groups and paths
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ifeq ($(USE_THUMB),yes)
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TCSRC += $(CSRC)
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TCPPSRC += $(CPPSRC)
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else
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ACSRC += $(CSRC)
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ACPPSRC += $(CPPSRC)
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endif
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ASRC := $(ACSRC) $(ACPPSRC)
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TSRC := $(TCSRC) $(TCPPSRC)
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SRCPATHS := $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)))
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# Various directories
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OBJDIR := $(BUILDDIR)/obj
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LSTDIR := $(BUILDDIR)/lst
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# Object files groups
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ACOBJS := $(addprefix $(OBJDIR)/, $(notdir $(ACSRC:.c=.o)))
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ACPPOBJS := $(addprefix $(OBJDIR)/, $(notdir $(ACPPSRC:.cpp=.o)))
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TCOBJS := $(addprefix $(OBJDIR)/, $(notdir $(TCSRC:.c=.o)))
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TCPPOBJS := $(addprefix $(OBJDIR)/, $(notdir $(TCPPSRC:.cpp=.o)))
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ASMOBJS := $(addprefix $(OBJDIR)/, $(notdir $(ASMSRC:.s=.o)))
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ASMXOBJS := $(addprefix $(OBJDIR)/, $(notdir $(ASMXSRC:.S=.o)))
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OBJS := $(ASMXOBJS) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS)
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# Paths
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IINCDIR := $(patsubst %,-I%,$(INCDIR) $(DINCDIR) $(UINCDIR))
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LLIBDIR := $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
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LLIBDIR += -L$(dir $(LDSCRIPT))
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# Macros
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DEFS := $(DDEFS) $(UDEFS)
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ADEFS := $(DADEFS) $(UADEFS)
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# Libs
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LIBS := $(DLIBS) $(ULIBS)
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# Various settings
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MCFLAGS := -mcpu=$(MCU)
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ODFLAGS = -x --syms
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ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.s=.lst)) $(ADEFS)
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ASXFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.S=.lst)) $(ADEFS)
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CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.c=.lst)) $(DEFS)
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CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS)
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LDFLAGS = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
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# provide a marker for ArduPilot build options in ChibiOS
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CFLAGS += -D_ARDUPILOT_
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# Thumb interwork enabled only if needed because it kills performance.
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ifneq ($(strip $(TSRC)),)
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CFLAGS += -DTHUMB_PRESENT
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CPPFLAGS += -DTHUMB_PRESENT
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ASFLAGS += -DTHUMB_PRESENT
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ASXFLAGS += -DTHUMB_PRESENT
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ifneq ($(strip $(ASRC)),)
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# Mixed ARM and THUMB mode.
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CFLAGS += -mthumb-interwork
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CPPFLAGS += -mthumb-interwork
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ASFLAGS += -mthumb-interwork
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ASXFLAGS += -mthumb-interwork
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LDFLAGS += -mthumb-interwork
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else
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# Pure THUMB mode, THUMB C code cannot be called by ARM asm code directly.
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CFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING
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CPPFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING
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ASFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING -mthumb
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ASXFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING -mthumb
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LDFLAGS += -mno-thumb-interwork -mthumb
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endif
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else
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# Pure ARM mode
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CFLAGS += -mno-thumb-interwork
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CPPFLAGS += -mno-thumb-interwork
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ASFLAGS += -mno-thumb-interwork
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ASXFLAGS += -mno-thumb-interwork
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LDFLAGS += -mno-thumb-interwork
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endif
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# Generate dependency information
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ASFLAGS += -MD -MP -MF .dep/$(@F).d
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ASXFLAGS += -MD -MP -MF .dep/$(@F).d
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CFLAGS += -MD -MP -MF .dep/$(@F).d
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CPPFLAGS += -MD -MP -MF .dep/$(@F).d
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# Paths where to search for sources
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VPATH = $(SRCPATHS)
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ifndef ECHO
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T := $(shell $(MAKE) $(MAKECMDGOALS) --no-print-directory \
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-nrRf $(firstword $(MAKEFILE_LIST)) \
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ECHO="COUNTTHIS" | grep -c "COUNTTHIS")
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N := x
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C = $(words $N)$(eval N := x $N)
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ECHO = echo "[$C/$T] ChibiOS:"
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endif
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all: PRE_MAKE_ALL_RULE_HOOK $(OBJS) $(OUTFILES) POST_MAKE_ALL_RULE_HOOK
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PRE_MAKE_ALL_RULE_HOOK:
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POST_MAKE_ALL_RULE_HOOK:
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$(OBJS): | $(BUILDDIR) $(OBJDIR) $(LSTDIR)
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$(BUILDDIR):
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ifneq ($(USE_VERBOSE_COMPILE),yes)
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@echo Compiler Options
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@echo $(CC) -c $(CFLAGS) -I. $(IINCDIR) main.c -o main.o
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@echo
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endif
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@mkdir -p $(BUILDDIR)
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$(OBJDIR):
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@mkdir -p $(OBJDIR)
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$(LSTDIR):
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@mkdir -p $(LSTDIR)
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$(ACPPOBJS) : $(OBJDIR)/%.o : %.cpp
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(CPPC) -c $(CPPFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
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else
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@$(ECHO) Compiling $(<F)
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@$(CPPC) -c $(CPPFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
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endif
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$(TCPPOBJS) : $(OBJDIR)/%.o : %.cpp
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(CPPC) -c $(CPPFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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else
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@$(ECHO) Compiling $(<F)
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@$(CPPC) -c $(CPPFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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endif
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$(ACOBJS) : $(OBJDIR)/%.o : %.c
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(CC) -c $(CFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
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else
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@$(ECHO) Compiling $(<F)
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@$(CC) -c $(CFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
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endif
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$(TCOBJS) : $(OBJDIR)/%.o : %.c
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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else
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@$(ECHO) Compiling $(<F)
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@$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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endif
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$(ASMOBJS) : $(OBJDIR)/%.o : %.s
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(AS) -c $(ASFLAGS) -I. $(IINCDIR) $< -o $@
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else
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@$(ECHO) Compiling $(<F)
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@$(AS) -c $(ASFLAGS) -I. $(IINCDIR) $< -o $@
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endif
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$(ASMXOBJS) : $(OBJDIR)/%.o : %.S
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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else
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@$(ECHO) Compiling $(<F)
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@$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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endif
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$(BUILDDIR)/$(PROJECT).elf: $(OBJS) $(LDSCRIPT)
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
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else
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@echo Linking $@
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@$(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
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endif
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%.hex: %.elf
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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$(HEX) $< $@
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else
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@echo Creating $@
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@$(HEX) $< $@
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endif
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%.bin: %.elf
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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$(BIN) $< $@
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else
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@echo Creating $@
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@$(BIN) $< $@
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endif
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%.srec: %.elf
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ifdef SREC
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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$(SREC) $< $@
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else
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@echo Creating $@
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@$(SREC) $< $@
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endif
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endif
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%.dmp: %.elf
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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$(OD) $(ODFLAGS) $< > $@
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$(SZ) $<
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else
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@echo Creating $@
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@$(OD) $(ODFLAGS) $< > $@
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@echo
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@$(SZ) $<
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endif
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%.list: %.elf
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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$(OD) -S $< > $@
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else
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@echo Creating $@
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@$(OD) -S $< > $@
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@echo
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@echo Done
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endif
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lib: $(OBJS) $(BUILDDIR)/lib$(PROJECT).a pass
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$(BUILDDIR)/lib$(PROJECT).a: $(OBJS)
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@$(AR) -r $@ $^
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@echo
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@echo ChibiOS: Done!
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pass: $(BUILDDIR)
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@echo $(foreach f,$(IINCDIR),"$(f);") > $(BUILDDIR)/include_dirs
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clean: CLEAN_RULE_HOOK
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@echo Cleaning
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-rm -fR .dep $(BUILDDIR)
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@echo
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@echo Done
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CLEAN_RULE_HOOK:
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#
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# Include the dependency files, should be the last of the makefile
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#
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-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
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# *** EOF ***
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