forked from Archive/PX4-Autopilot
235 lines
7.1 KiB
Makefile
235 lines
7.1 KiB
Makefile
#
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# Copyright (c) 2012, 2013 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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# Framework makefile for PX4 modules
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#
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# This makefile is invoked by firmware.mk to build each of the modules
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# that will subsequently be linked into the firmware image.
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#
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# Modules are built as prelinked objects with a limited set of exported
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# symbols, as the global namespace is shared between all modules. Normally an
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# module will just export one or more <command>_main functions.
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#
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# IMPORTANT NOTE:
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#
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# This makefile assumes it is being invoked in the module's output directory.
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#
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#
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# Variables that can be set by the module's module.mk:
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#
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#
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# SRCS (required)
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#
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# Lists the .c, cpp and .S files that should be compiled/assembled to
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# produce the module.
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#
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# MODULE_COMMAND (optional)
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# MODULE_ENTRYPOINT (optional if MODULE_COMMAND is set)
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# MODULE_STACKSIZE (optional if MODULE_COMMAND is set)
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# MODULE_PRIORITY (optional if MODULE_COMMAND is set)
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#
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# Defines a single builtin command exported by the module.
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# MODULE_COMMAND must be unique for any configuration, but need not be the
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# same as the module directory name.
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#
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# If MODULE_ENTRYPOINT is set, it names the function (which must be exported)
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# that will be the entrypoint for the builtin command. It defaults to
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# $(MODULE_COMMAND)_main.
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#
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# If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be
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# allocated for the builtin command. If it is not set, it defaults
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# to CONFIG_PTHREAD_STACK_DEFAULT.
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#
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# If MODULE_PRIORITY is set, it is the thread priority for the builtin
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# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT.
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#
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# MODULE_COMMANDS (optional if MODULE_COMMAND is not set)
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#
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# Defines builtin commands exported by the module. Each word in
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# the list should be formatted as:
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# <command>.<priority>.<stacksize>.<entrypoint>
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#
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# INCLUDE_DIRS (optional, must be appended)
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#
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# The list of directories searched for include files. If non-standard
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# includes (e.g. those from another module) are required, paths to search
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# can be added here.
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#
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# DEFAULT_VISIBILITY (optional)
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#
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# If not set, global symbols defined in a module will not be visible
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# outside the module. Symbols that should be globally visible must be
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# marked __EXPORT.
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# If set, global symbols defined in a module will be globally visible.
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#
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#
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# Variables visible to the module's module.mk:
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#
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# CONFIG
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# BOARD
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# BOARD_FILE
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# MODULE_WORK_DIR
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# MODULE_OBJ
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# MODULE_MK
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# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
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# Anything exported from config_$(CONFIG).mk
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#
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################################################################################
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# No user-serviceable parts below.
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################################################################################
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ifeq ($(MODULE_MK),)
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$(error No module makefile specified)
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endif
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ifeq ($(V),1)
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$(info %% MODULE_MK = $(MODULE_MK))
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endif
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#
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# Get the board/toolchain config
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#
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include $(BOARD_FILE)
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#
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# Get the module's config
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#
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include $(MODULE_MK)
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MODULE_SRC := $(dir $(MODULE_MK))
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ifeq ($(V),1)
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$(info % MODULE_NAME = $(MODULE_NAME))
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$(info % MODULE_SRC = $(MODULE_SRC))
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$(info % MODULE_OBJ = $(MODULE_OBJ))
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$(info % MODULE_WORK_DIR = $(MODULE_WORK_DIR))
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endif
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#
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# Things that, if they change, might affect everything
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#
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GLOBAL_DEPS += $(MAKEFILE_LIST)
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################################################################################
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# Builtin command definitions
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################################################################################
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ifneq ($(MODULE_COMMAND),)
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MODULE_ENTRYPOINT ?= $(MODULE_COMMAND)_main
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MODULE_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT
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MODULE_PRIORITY ?= SCHED_PRIORITY_DEFAULT
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MODULE_COMMANDS += $(MODULE_COMMAND).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT)
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CXXFLAGS += -DPX4_MAIN=$(MODULE_COMMAND)_app_main
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endif
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ifneq ($(MODULE_COMMANDS),)
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MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS))
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# Create the command files
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# Ensure that there is only one entry for each command
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#
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.PHONY: $(MODULE_COMMAND_FILES)
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$(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
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$(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
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$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
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@$(REMOVE) -f $(exclude)
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@$(MKDIR) -p $(dir $@)
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@$(ECHO) "CMD: $(command)"
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$(Q) $(TOUCH) $@
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endif
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################################################################################
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# Adjust compilation flags to implement EXPORT
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################################################################################
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ifeq ($(DEFAULT_VISIBILITY),)
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DEFAULT_VISIBILITY = hidden
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else
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DEFAULT_VISIBILITY = default
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endif
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CFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
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CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
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################################################################################
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# Build rules
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################################################################################
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#
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# What we're going to build
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#
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module: $(MODULE_OBJ) $(MODULE_COMMAND_FILES)
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#
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# Object files we will generate from sources
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#
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OBJS = $(addsuffix .o,$(SRCS))
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#
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# Dependency files that will be auto-generated
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#
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DEPS = $(addsuffix .d,$(SRCS))
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#
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# SRCS -> OBJS rules
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#
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$(OBJS): $(GLOBAL_DEPS)
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vpath %.c $(MODULE_SRC)
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$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
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$(call COMPILE,$<,$@)
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vpath %.cpp $(MODULE_SRC)
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$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
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$(call COMPILEXX,$<,$@)
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vpath %.S $(MODULE_SRC)
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$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
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$(call ASSEMBLE,$<,$@)
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#
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# Built product rules
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#
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$(MODULE_OBJ): $(OBJS) $(GLOBAL_DEPS)
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$(call PRELINK,$@,$(OBJS))
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#
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# Utility rules
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#
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clean:
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$(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS)
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-include $(DEPS)
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