amiro-os / modules / DiWheelDrive_1-1 / Makefile @ 1dd7edc7
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# AMiRo-OS is an operating system designed for the Autonomous Mini Robot # |
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# (AMiRo) platform. # |
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# Copyright (C) 2016..2018 Thomas Schöpping et al. # |
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# # |
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# This program is free software: you can redistribute it and/or modify # |
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# it under the terms of the GNU General Public License as published by # |
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# the Free Software Foundation, either version 3 of the License, or # |
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# (at your option) any later version. # |
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# # |
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# This program is distributed in the hope that it will be useful, # |
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# but WITHOUT ANY WARRANTY; without even the implied warranty of # |
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # |
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# GNU General Public License for more details. # |
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# # |
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# You should have received a copy of the GNU General Public License # |
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# along with this program. If not, see <http://www.gnu.org/licenses/>. # |
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# # |
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# This research/work was supported by the Cluster of Excellence Cognitive # |
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# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is # |
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# funded by the German Research Foundation (DFG). # |
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################################################################################ |
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################################################################################ |
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# Build global options # |
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# NOTE: Can be overridden externally. # |
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# # |
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# Compiler options here. |
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ifeq ($(USE_OPT),) |
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USE_OPT = -O2 -fomit-frame-pointer -falign-functions=16 -fstack-usage |
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endif |
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# C specific options here (added to USE_OPT). |
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ifeq ($(USE_COPT),) |
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USE_COPT = -std=c11 |
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endif |
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# C++ specific options here (added to USE_OPT). |
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ifeq ($(USE_CPPOPT),) |
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USE_CPPOPT = -fno-rtti -std=c++17 |
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endif |
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# Enable this if you want the linker to remove unused code and data |
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ifeq ($(USE_LINK_GC),) |
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USE_LINK_GC = yes |
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endif |
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|
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# Linker extra options here. |
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ifeq ($(USE_LDOPT),) |
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USE_LDOPT = |
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endif |
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|
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# Enable this if you want link time optimizations (LTO) |
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ifeq ($(USE_LTO),) |
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USE_LTO = yes |
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endif |
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# If enabled, this option allows to compile the application in THUMB mode. |
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ifeq ($(USE_THUMB),) |
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USE_THUMB = yes |
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endif |
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|
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# Enable this if you want to see the full log while compiling. |
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ifeq ($(USE_VERBOSE_COMPILE),) |
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USE_VERBOSE_COMPILE = no |
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endif |
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# If enabled, this option makes the build process faster by not compiling |
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# modules not used in the current configuration. |
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ifeq ($(USE_SMART_BUILD),) |
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USE_SMART_BUILD = no |
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endif |
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|
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# # |
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# Build global options # |
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################################################################################ |
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|
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################################################################################ |
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# Architecture or project specific options # |
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# # |
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|
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# Stack size to be allocated to the Cortex-M process stack. This stack is |
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# the stack used by the main() thread. |
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ifeq ($(USE_PROCESS_STACKSIZE),) |
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USE_PROCESS_STACKSIZE = 0x400 |
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endif |
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|
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# Stack size to the allocated to the Cortex-M main/exceptions stack. This |
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# stack is used for processing interrupts and exceptions. |
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ifeq ($(USE_EXCEPTIONS_STACKSIZE),) |
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USE_EXCEPTIONS_STACKSIZE = 0x400 |
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endif |
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|
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# Enables the use of FPU on Cortex-M4. |
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# Possible selections are: |
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# no - no FPU is used (probably equals 'soft') |
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# soft - does not use the FPU, thus all floating point operations are emulated |
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# softfp - uses the FPU, but uses the integer registers only |
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# hard - uses the FPU and passes data via the FPU registers |
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ifeq ($(USE_FPU),) |
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USE_FPU = no |
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endif |
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# # |
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# Architecture or project specific options # |
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################################################################################ |
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|
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################################################################################ |
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# Project, sources and paths # |
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# # |
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# Define project name here |
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PROJECT := $(patsubst $(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST))))..)/%,%,$(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST)))))) |
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# Imported source files and paths |
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include ../../kernel/kernel.mk |
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CHIBIOS := $(AMIROOS_KERNEL) |
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AMIROOS = ../.. |
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# Startup files |
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include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk |
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# HAL-OSAL files |
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include $(CHIBIOS)/os/hal/hal.mk |
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include $(CHIBIOS)/os/hal/ports/STM32/STM32F1xx/platform.mk |
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include ./board.mk |
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include $(CHIBIOS)/os/hal/osal/rt/osal.mk |
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# RTOS files |
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include $(CHIBIOS)/os/rt/rt.mk |
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include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk |
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# Other files (optional). |
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include $(CHIBIOS)/test/lib/test.mk |
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include $(CHIBIOS)/test/rt/rt_test.mk |
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# AMiRo-BLT files |
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include ../../bootloader/bootloader.mk |
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# AMiRo-LLD files |
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include ../../periphery-lld/periphery-lld.mk |
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# AMiRo-OS files |
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include ../modules.mk |
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include $(AMIROOS)/core/core.mk |
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include $(AMIROOS)/unittests/unittests.mk |
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|
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# Define linker script file here |
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LDSCRIPT= $(BOARDLD)/STM32F103xE.ld |
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# C sources that can be compiled in ARM or THUMB mode depending on the global |
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# setting. |
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CSRC = $(STARTUPSRC) \ |
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$(KERNSRC) \ |
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$(PORTSRC) \ |
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$(OSALSRC) \ |
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$(HALSRC) \ |
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$(PLATFORMSRC) \ |
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$(BOARDSRC) \ |
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$(MODULESCSRC) \ |
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$(TESTSRC) \ |
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$(PERIPHERYLLDCSRC) \ |
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$(AMIROOSCORECSRC) \ |
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$(UNITTESTSCSRC) \ |
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$(CHIBIOS)/os/various/evtimer.c \ |
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$(CHIBIOS)/os/various/syscalls.c \ |
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$(CHIBIOS)/os/hal/lib/streams/chprintf.c \ |
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module.c \ |
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$(APPSCSRC) |
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# C++ sources that can be compiled in ARM or THUMB mode depending on the global |
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# setting. |
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CPPSRC = $(AMIROOSCORECPPSRC) \ |
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$(APPSCPPSRC) |
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# C sources to be compiled in ARM mode regardless of the global setting. |
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler |
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# option that results in lower performance and larger code size. |
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ACSRC = $(APPSACSRC) |
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# C++ sources to be compiled in ARM mode regardless of the global setting. |
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler |
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# option that results in lower performance and larger code size. |
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ACPPSRC = $(APPSACPPSRC) |
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# C sources to be compiled in THUMB mode regardless of the global setting. |
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler |
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# option that results in lower performance and larger code size. |
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TCSRC = $(APPSTCSRC) |
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|
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# C sources to be compiled in THUMB mode regardless of the global setting. |
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler |
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# option that results in lower performance and larger code size. |
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TCPPSRC = $(APPSTCPPSRC) |
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|
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# List ASM source files here |
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ASMSRC = $(APPSASMSRC) |
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ASMXSRC = $(STARTUPASM) \ |
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$(PORTASM) \ |
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$(OSALASM) \ |
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$(APPSASMXSRC) |
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INCDIR = $(CHIBIOS)/os/license \ |
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$(STARTUPINC) \ |
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$(KERNINC) \ |
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$(PORTINC) \ |
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$(OSALINC) \ |
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$(HALINC) \ |
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$(PLATFORMINC) \ |
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$(BOARDINC) \ |
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$(MODULESINC) \ |
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$(TESTINC) \ |
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$(BOOTLOADERINC) \ |
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$(CHIBIOS)/os/hal/lib/streams \ |
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$(CHIBIOS)/os/various \ |
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$(PERIPHERYLLDINC) \ |
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$(AMIROOS) \ |
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$(AMIROOSCOREINC) \ |
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$(UNITTESTSINC) \ |
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$(APPSINC) |
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# # |
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# Project, sources and paths # |
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################################################################################ |
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|
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################################################################################ |
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# Compiler settings # |
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# NOTE: Some can be overridden externally. # |
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# # |
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|
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MCU = cortex-m3 |
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|
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#TRGT = arm-elf- |
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TRGT = arm-none-eabi- |
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CC = $(TRGT)gcc |
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CPPC = $(TRGT)g++ |
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# Enable loading with g++ only if you need C++ runtime support. |
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# NOTE: You can use C++ even without C++ support if you are careful. C++ |
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# runtime support makes code size explode. |
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LD = $(TRGT)gcc |
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#LD = $(TRGT)g++ |
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CP = $(TRGT)objcopy |
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AS = $(TRGT)gcc -x assembler-with-cpp |
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AR = $(TRGT)ar |
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OD = $(TRGT)objdump |
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SZ = $(TRGT)size |
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HEX = $(CP) -O ihex |
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BIN = $(CP) -O binary |
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SREC = $(CP) -O srec --srec-len=248 |
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# ARM-specific options here |
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ifeq ($(AOPT),) |
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AOPT = |
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endif |
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# THUMB-specific options here |
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ifeq ($(TOPT),) |
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TOPT = -mthumb -DTHUMB |
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endif |
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|
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# Define C warning options here |
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ifeq ($(CWARN),) |
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CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes |
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endif |
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# Define C++ warning options here |
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ifeq ($(CPPWARN),) |
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CPPWARN = -Wall -Wextra -Wundef |
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endif |
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# # |
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# Compiler settings # |
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################################################################################ |
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|
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################################################################################ |
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# Start of user section # |
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# # |
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# List all user C define here, like -D_DEBUG=1 |
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UDEFS += |
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# Define ASM defines here |
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UADEFS += |
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# List all user directories here |
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UINCDIR += |
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# List the user directory to look for the libraries here |
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ULIBDIR += |
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# List all user libraries here |
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ULIBS += |
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# # |
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# End of user defines # |
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################################################################################ |
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|
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# allow for custom build directory |
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ifneq ($(BUILDDIR),) |
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BUILDDIR := $(BUILDDIR)/$(PROJECT) |
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endif |
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RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC |
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include $(RULESPATH)/rules.mk |
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include ../flash.mk |