amiro-os / modules / DiWheelDrive_1-1 / Makefile @ 2f5f6722
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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..2019 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=c17 |
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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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# Linker extra options here. |
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ifeq ($(USE_LDOPT),) |
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USE_LDOPT = |
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endif |
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# Enable this if you want link time optimizations (LTO). |
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ifeq ($(USE_LTO),) |
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USE_LTO = yes |
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endif |
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# 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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# Build global options # |
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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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# 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 ($(USE_PROCESS_STACKSIZE),) |
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USE_PROCESS_STACKSIZE = 0x400 |
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endif |
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# Stack size to the allocated to the Cortex-M main/exceptions stack. This |
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# stack is used for processing interrupts and exceptions. |
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ifeq ($(USE_EXCEPTIONS_STACKSIZE),) |
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USE_EXCEPTIONS_STACKSIZE = 0x400 |
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endif |
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# Enables the use of FPU. |
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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 ($(USE_FPU),) |
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USE_FPU = no |
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endif |
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# FPU-related options. |
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ifeq ($(USE_FPU_OPT),) |
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USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16 |
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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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# Project, target, sources and paths # |
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# # |
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# Absolute path to the project |
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PROJECT_PATH := $(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST))))) |
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# Define project name here |
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PROJECT := $(patsubst $(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST))))..)/%,%,$(PROJECT_PATH)) |
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# Target settings. |
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MCU = cortex-m3 |
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# Imported source files and paths. |
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include ../../kernel/kernel.mk |
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CHIBIOS := $(AMIROOS_KERNEL) |
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CONFDIR := . |
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ifeq ($(BUILDDIR),) |
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BUILDDIR := $(PROJECT_PATH)/build |
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endif |
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DEPDIR := $(dir $(BUILDDIR)).dep |
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AMIROOS := ../.. |
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# Licensing files. |
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include $(CHIBIOS)/os/license/license.mk |
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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 (optional). |
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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 $(CHIBIOS)/os/hal/osal/rt/osal.mk |
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include $(CHIBIOS)/os/hal/lib/streams/streams.mk |
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# RTOS files (optional). |
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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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# Auto-build files in ./source recursively. |
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include $(CHIBIOS)/tools/mk/autobuild.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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include $(CHIBIOS)/test/oslib/oslib_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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# Define linker script file here |
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LDSCRIPT= 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 = $(ALLCSRC) \ |
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$(CHIBIOS)/os/various/syscalls.c \ |
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$(CHIBIOS)/os/various/evtimer.c \ |
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$(TESTSRC) \ |
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board.c \ |
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$(PERIPHERYLLDCSRC) \ |
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$(UNITTESTSCSRC) \ |
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$(AMIROOSCORECSRC) \ |
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$(MODULESCSRC) \ |
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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 = $(ALLCPPSRC) \ |
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$(CHIBIOS)/os/various/cpp_wrappers/syscalls_cpp.cpp \ |
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$(AMIROOSCORECPPSRC) \ |
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$(APPSCPPSRC) |
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# List ASM source files here. |
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ASMSRC = $(ALLASMSRC) \ |
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$(APPSASMSRC) |
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# List ASM with preprocessor source files here. |
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ASMXSRC = $(ALLXASMSRC) \ |
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$(APPSASMXSRC) |
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# Inclusion directories. |
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INCDIR = $(CONFDIR) \ |
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$(ALLINC) \ |
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$(TESTINC) \ |
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$(CHIBIOS)/os/hal/lib/streams \ |
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$(BOOTLOADERINC) \ |
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$(PERIPHERYLLDINC) \ |
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$(AMIROOS) \ |
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$(UNITTESTSINC) \ |
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$(AMIROOSCOREINC) \ |
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$(MODULESINC) \ |
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$(APPSINC) |
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# Define C warning options here. |
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CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes |
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# Define C++ warning options here. |
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CPPWARN = -Wall -Wextra -Wundef |
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# Create an additional .srec image file. |
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SREC = $(CP) -O srec --srec-len=248 |
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# # |
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# Project, target, sources and paths # |
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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 section # |
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################################################################################ |
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################################################################################ |
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# Common rules # |
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# # |
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RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk |
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include $(RULESPATH)/arm-none-eabi.mk |
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include $(RULESPATH)/rules.mk |
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# # |
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# Common rules # |
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################################################################################ |
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################################################################################ |
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# Custom rules # |
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# # |
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FLASH_MODULES = $(PROJECT) |
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FLASH_FILES = $(BUILDDIR)/$(PROJECT).$(FLASHTOOL_EXT) |
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flash: $(FLASH_FILES) |
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$(info ) |
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ifeq ($(FLASHTOOL),SerialBoot) |
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$(info Flashing ($(FLASHTOOL)):) |
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$(FLASHTOOL_CMD) $(FLASHTOOL_ARGS) |
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else |
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$(info ERROR: unable to flash the module (SerialBoot unavailable)) |
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endif |
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# # |
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# Custom rules # |
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################################################################################ |
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