amiro-os / modules / DiWheelDrive_1-1 / Makefile @ 8547080b
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1 | e545e620 | Thomas Schöpping | ################################################################################ |
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2 | # AMiRo-OS is an operating system designed for the Autonomous Mini Robot # |
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3 | # (AMiRo) platform. # |
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4 | 84f0ce9e | Thomas Schöpping | # Copyright (C) 2016..2019 Thomas Schöpping et al. # |
5 | e545e620 | Thomas Schöpping | # # |
6 | # This program is free software: you can redistribute it and/or modify # |
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7 | # it under the terms of the GNU General Public License as published by # |
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8 | # the Free Software Foundation, either version 3 of the License, or # |
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9 | # (at your option) any later version. # |
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10 | # # |
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11 | # This program is distributed in the hope that it will be useful, # |
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12 | # but WITHOUT ANY WARRANTY; without even the implied warranty of # |
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13 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # |
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14 | # GNU General Public License for more details. # |
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15 | # # |
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16 | # You should have received a copy of the GNU General Public License # |
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17 | # along with this program. If not, see <http://www.gnu.org/licenses/>. # |
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18 | # # |
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19 | # This research/work was supported by the Cluster of Excellence Cognitive # |
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20 | # Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is # |
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21 | # funded by the German Research Foundation (DFG). # |
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22 | ################################################################################ |
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23 | |||
24 | |||
25 | |||
26 | ################################################################################ |
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27 | # Build global options # |
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28 | # NOTE: Can be overridden externally. # |
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29 | # # |
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30 | |||
31 | # Compiler options here. |
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32 | ifeq ($(USE_OPT),) |
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33 | USE_OPT = -O2 -fomit-frame-pointer -falign-functions=16 -fstack-usage |
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34 | endif |
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35 | |||
36 | # C specific options here (added to USE_OPT). |
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37 | ifeq ($(USE_COPT),) |
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38 | 691a0632 | Thomas Schöpping | USE_COPT = -std=c17 |
39 | e545e620 | Thomas Schöpping | endif |
40 | |||
41 | # C++ specific options here (added to USE_OPT). |
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42 | ifeq ($(USE_CPPOPT),) |
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43 | 870f74ac | Thomas Schöpping | USE_CPPOPT = -fno-rtti -std=c++17 |
44 | e545e620 | Thomas Schöpping | endif |
45 | |||
46 | 732a4657 | Thomas Schöpping | # Enable this if you want the linker to remove unused code and data. |
47 | e545e620 | Thomas Schöpping | ifeq ($(USE_LINK_GC),) |
48 | USE_LINK_GC = yes |
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49 | endif |
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50 | |||
51 | # Linker extra options here. |
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52 | ifeq ($(USE_LDOPT),) |
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53 | USE_LDOPT = |
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54 | endif |
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55 | |||
56 | 732a4657 | Thomas Schöpping | # Enable this if you want link time optimizations (LTO). |
57 | e545e620 | Thomas Schöpping | ifeq ($(USE_LTO),) |
58 | USE_LTO = yes |
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59 | endif |
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60 | |||
61 | # Enable this if you want to see the full log while compiling. |
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62 | ifeq ($(USE_VERBOSE_COMPILE),) |
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63 | USE_VERBOSE_COMPILE = no |
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64 | endif |
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65 | |||
66 | # If enabled, this option makes the build process faster by not compiling |
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67 | # modules not used in the current configuration. |
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68 | ifeq ($(USE_SMART_BUILD),) |
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69 | 043cdf33 | Thomas Schöpping | USE_SMART_BUILD = no |
70 | e545e620 | Thomas Schöpping | endif |
71 | |||
72 | # # |
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73 | # Build global options # |
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74 | ################################################################################ |
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75 | |||
76 | ################################################################################ |
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77 | # Architecture or project specific options # |
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78 | # # |
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79 | |||
80 | # Stack size to be allocated to the Cortex-M process stack. This stack is |
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81 | # the stack used by the main() thread. |
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82 | ifeq ($(USE_PROCESS_STACKSIZE),) |
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83 | USE_PROCESS_STACKSIZE = 0x400 |
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84 | endif |
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85 | |||
86 | # Stack size to the allocated to the Cortex-M main/exceptions stack. This |
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87 | # stack is used for processing interrupts and exceptions. |
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88 | ifeq ($(USE_EXCEPTIONS_STACKSIZE),) |
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89 | USE_EXCEPTIONS_STACKSIZE = 0x400 |
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90 | endif |
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91 | |||
92 | 732a4657 | Thomas Schöpping | # Enables the use of FPU. |
93 | e545e620 | Thomas Schöpping | # Possible selections are: |
94 | 9e75cdad | Thomas Schöpping | # no - no FPU is used (probably equals 'soft') |
95 | e545e620 | Thomas Schöpping | # soft - does not use the FPU, thus all floating point operations are emulated |
96 | # softfp - uses the FPU, but uses the integer registers only |
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97 | # hard - uses the FPU and passes data via the FPU registers |
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98 | ifeq ($(USE_FPU),) |
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99 | USE_FPU = no |
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100 | endif |
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101 | |||
102 | 732a4657 | Thomas Schöpping | # FPU-related options. |
103 | ifeq ($(USE_FPU_OPT),) |
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104 | USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16 |
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105 | endif |
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106 | |||
107 | e545e620 | Thomas Schöpping | # # |
108 | # Architecture or project specific options # |
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109 | ################################################################################ |
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110 | |||
111 | ################################################################################ |
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112 | 732a4657 | Thomas Schöpping | # Project, target, sources and paths # |
113 | e545e620 | Thomas Schöpping | # # |
114 | |||
115 | # Define project name here |
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116 | PROJECT := $(patsubst $(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST))))..)/%,%,$(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST)))))) |
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117 | |||
118 | 732a4657 | Thomas Schöpping | # Target settings. |
119 | MCU = cortex-m3 |
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120 | |||
121 | # Imported source files and paths. |
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122 | a7e67622 | Thomas Schöpping | include ../../kernel/kernel.mk |
123 | 732a4657 | Thomas Schöpping | CHIBIOS := $(AMIROOS_KERNEL) |
124 | CONFDIR := . |
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125 | ifeq ($(BUILDDIR),) |
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126 | BUILDDIR := ./build |
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127 | endif |
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128 | DEPDIR := $(dir $(BUILDDIR)).dep |
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129 | AMIROOS := ../.. |
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130 | # Licensing files. |
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131 | f39a7138 | Thomas Schöpping | include $(CHIBIOS)/os/license/license.mk |
132 | 732a4657 | Thomas Schöpping | # Startup files. |
133 | e545e620 | Thomas Schöpping | include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk |
134 | 732a4657 | Thomas Schöpping | # HAL-OSAL files (optional). |
135 | e545e620 | Thomas Schöpping | include $(CHIBIOS)/os/hal/hal.mk |
136 | include $(CHIBIOS)/os/hal/ports/STM32/STM32F1xx/platform.mk |
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137 | include $(CHIBIOS)/os/hal/osal/rt/osal.mk |
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138 | 2a9f9ad7 | Thomas Schöpping | include $(CHIBIOS)/os/hal/lib/streams/streams.mk |
139 | 732a4657 | Thomas Schöpping | # RTOS files (optional). |
140 | e545e620 | Thomas Schöpping | include $(CHIBIOS)/os/rt/rt.mk |
141 | include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk |
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142 | 732a4657 | Thomas Schöpping | # Auto-build files in ./source recursively. |
143 | include $(CHIBIOS)/tools/mk/autobuild.mk |
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144 | e545e620 | Thomas Schöpping | # Other files (optional). |
145 | 0128be0f | Marc Rothmann | include $(CHIBIOS)/test/lib/test.mk |
146 | include $(CHIBIOS)/test/rt/rt_test.mk |
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147 | f39a7138 | Thomas Schöpping | include $(CHIBIOS)/test/oslib/oslib_test.mk |
148 | e545e620 | Thomas Schöpping | # AMiRo-BLT files |
149 | a7e67622 | Thomas Schöpping | include ../../bootloader/bootloader.mk |
150 | e545e620 | Thomas Schöpping | # AMiRo-LLD files |
151 | a7e67622 | Thomas Schöpping | include ../../periphery-lld/periphery-lld.mk |
152 | e545e620 | Thomas Schöpping | # AMiRo-OS files |
153 | a7e67622 | Thomas Schöpping | include ../modules.mk |
154 | e545e620 | Thomas Schöpping | include $(AMIROOS)/core/core.mk |
155 | include $(AMIROOS)/unittests/unittests.mk |
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156 | |||
157 | # Define linker script file here |
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158 | bf15b7d9 | Thomas Schöpping | LDSCRIPT= STM32F103xE.ld |
159 | e545e620 | Thomas Schöpping | |
160 | # C sources that can be compiled in ARM or THUMB mode depending on the global |
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161 | # setting. |
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162 | 732a4657 | Thomas Schöpping | CSRC = $(ALLCSRC) \ |
163 | e545e620 | Thomas Schöpping | $(CHIBIOS)/os/various/syscalls.c \ |
164 | 2a9f9ad7 | Thomas Schöpping | $(CHIBIOS)/os/various/evtimer.c \ |
165 | $(TESTSRC) \ |
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166 | bf15b7d9 | Thomas Schöpping | board.c \ |
167 | 732a4657 | Thomas Schöpping | $(PERIPHERYLLDCSRC) \ |
168 | $(UNITTESTSCSRC) \ |
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169 | $(AMIROOSCORECSRC) \ |
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170 | $(MODULESCSRC) \ |
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171 | e545e620 | Thomas Schöpping | module.c \ |
172 | 9e75cdad | Thomas Schöpping | $(APPSCSRC) |
173 | e545e620 | Thomas Schöpping | |
174 | # C++ sources that can be compiled in ARM or THUMB mode depending on the global |
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175 | # setting. |
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176 | 732a4657 | Thomas Schöpping | CPPSRC = $(ALLCPPSRC) \ |
177 | f1f56ad4 | Thomas Schöpping | $(CHIBIOS)/os/various/cpp_wrappers/syscalls_cpp.cpp \ |
178 | 732a4657 | Thomas Schöpping | $(AMIROOSCORECPPSRC) \ |
179 | b2053cb5 | Thomas Schöpping | $(APPSCPPSRC) |
180 | e545e620 | Thomas Schöpping | |
181 | 732a4657 | Thomas Schöpping | # List ASM source files here. |
182 | ASMSRC = $(ALLASMSRC) \ |
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183 | $(APPSASMSRC) |
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184 | |||
185 | # List ASM with preprocessor source files here. |
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186 | ASMXSRC = $(ALLXASMSRC) \ |
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187 | 756ef2f6 | Thomas Schöpping | $(APPSASMXSRC) |
188 | e545e620 | Thomas Schöpping | |
189 | 732a4657 | Thomas Schöpping | # Inclusion directories. |
190 | INCDIR = $(CONFDIR) \ |
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191 | $(ALLINC) \ |
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192 | e545e620 | Thomas Schöpping | $(TESTINC) \ |
193 | $(CHIBIOS)/os/hal/lib/streams \ |
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194 | 732a4657 | Thomas Schöpping | $(BOOTLOADERINC) \ |
195 | e545e620 | Thomas Schöpping | $(PERIPHERYLLDINC) \ |
196 | $(AMIROOS) \ |
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197 | $(UNITTESTSINC) \ |
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198 | 732a4657 | Thomas Schöpping | $(AMIROOSCOREINC) \ |
199 | $(MODULESINC) \ |
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200 | 9e75cdad | Thomas Schöpping | $(APPSINC) |
201 | e545e620 | Thomas Schöpping | |
202 | 732a4657 | Thomas Schöpping | # Define C warning options here. |
203 | CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes |
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204 | e545e620 | Thomas Schöpping | |
205 | 732a4657 | Thomas Schöpping | # Define C++ warning options here. |
206 | CPPWARN = -Wall -Wextra -Wundef |
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207 | e545e620 | Thomas Schöpping | |
208 | 732a4657 | Thomas Schöpping | # Create an additional .srec image file. |
209 | e545e620 | Thomas Schöpping | SREC = $(CP) -O srec --srec-len=248 |
210 | |||
211 | # # |
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212 | 732a4657 | Thomas Schöpping | # Project, target, sources and paths # |
213 | e545e620 | Thomas Schöpping | ################################################################################ |
214 | |||
215 | ################################################################################ |
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216 | # Start of user section # |
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217 | # # |
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218 | |||
219 | # List all user C define here, like -D_DEBUG=1 |
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220 | UDEFS += |
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221 | |||
222 | # Define ASM defines here |
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223 | UADEFS += |
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224 | |||
225 | # List all user directories here |
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226 | UINCDIR += |
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227 | |||
228 | # List the user directory to look for the libraries here |
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229 | ULIBDIR += |
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230 | |||
231 | # List all user libraries here |
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232 | ULIBS += |
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233 | |||
234 | # # |
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235 | 732a4657 | Thomas Schöpping | # End of user section # |
236 | e545e620 | Thomas Schöpping | ################################################################################ |
237 | |||
238 | 2c89d7e2 | Thomas Schöpping | ################################################################################ |
239 | 732a4657 | Thomas Schöpping | # Common rules # |
240 | 2c89d7e2 | Thomas Schöpping | # # |
241 | 870f74ac | Thomas Schöpping | |
242 | 732a4657 | Thomas Schöpping | RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk |
243 | include $(RULESPATH)/arm-none-eabi.mk |
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244 | e545e620 | Thomas Schöpping | include $(RULESPATH)/rules.mk |
245 | |||
246 | 732a4657 | Thomas Schöpping | # # |
247 | # Common rules # |
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248 | ################################################################################ |
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249 | |||
250 | ################################################################################ |
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251 | # Custom rules # |
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252 | # # |
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253 | |||
254 | 2c89d7e2 | Thomas Schöpping | FLASH_MODULES = $(PROJECT) |
255 | FLASH_FILES = $(BUILDDIR)/$(PROJECT).$(FLASHTOOL_EXT) |
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256 | |||
257 | flash: $(FLASH_FILES) |
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258 | $(info ) |
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259 | e9ca986c | Thomas Schöpping | ifeq ($(FLASHTOOL),SerialBoot) |
260 | $(info Flashing ($(FLASHTOOL)):) |
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261 | $(FLASHTOOL_CMD) $(FLASHTOOL_ARGS) |
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262 | else |
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263 | $(info ERROR: unable to flash the module (SerialBoot unavailable)) |
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264 | endif |
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265 | 2c89d7e2 | Thomas Schöpping | |
266 | # # |
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267 | 732a4657 | Thomas Schöpping | # Custom rules # |
268 | 2c89d7e2 | Thomas Schöpping | ################################################################################ |