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amiro-os / modules / DiWheelDrive_1-1 / Makefile @ 6ec8d60d

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################################################################################
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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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# 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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# If enabled, this option allows to compile the application in THUMB mode.
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ifeq ($(USE_THUMB),)
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  USE_THUMB = yes
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endif
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# Enable this if you want to see the full log while compiling.
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ifeq ($(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 ($(USE_EXCEPTIONS_STACKSIZE),)
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  USE_EXCEPTIONS_STACKSIZE = 0x400
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endif
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# Enables the use of FPU on Cortex-M4.
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# Possible selections are:
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#   no     - no FPU is used (probably equals 'soft')
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#   soft   - does not use the FPU, thus all floating point operations are emulated
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#   softfp - uses the FPU, but uses the integer registers only
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#   hard   - uses the FPU and passes data via the FPU registers
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ifeq ($(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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# 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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# 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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# 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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# 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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         $(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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# Compiler settings                                                            #
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# NOTE: Some can be overridden externally.                                     #
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#                                                                              #
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MCU  = cortex-m3
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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 ($(TOPT),)
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  TOPT = -mthumb -DTHUMB
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endif
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# Define C warning options here
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ifeq ($(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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# 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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RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
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include $(RULESPATH)/rules.mk
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include ../flash.mk