mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-06 06:43:21 +08:00
Fresh import of the PX4 firmware sources.
This commit is contained in:
px4dev
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############################################################################
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#
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# Copyright (C) 2012 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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#
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# Common Makefile for nsh command modules and utility libraries; should be
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# included by the module-specific Makefile.
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#
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# To build an app that appears as an nsh external command, the caller
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# must define:
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#
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# APPNAME - the name of the application, defaults to the name
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# of the parent directory.
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#
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# If APPNAME is not defined, a utility library is built instead. The library
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# name is normally automatically determined, but it can be overridden by
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# setting:
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#
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# LIBNAME - the name of the library, defaults to the name of the
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# directory
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#
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# The calling makefile may also set:
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#
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# ASRCS - list of assembly source files, defaults to all .S
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# files in the directory
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#
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# CSRCS - list of C source files, defaults to all .c files
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# in the directory
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#
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# CXXSRCS - list of C++ source files, defaults to all .cpp
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# files in the directory
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#
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# INCLUDES - list of directories to be added to the include
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# search path
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#
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# PRIORITY - thread priority for the command (defaults to
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# SCHED_PRIORITY_DEFAULT)
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#
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# STACKSIZE - stack size for the command (defaults to
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# CONFIG_PTHREAD_STACK_DEFAULT)
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#
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# Symbols in the module are private to the module unless deliberately exported
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# using the __EXPORT tag.
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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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############################################################################
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# Work out who included us so we can report decent errors
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#
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THIS_MAKEFILE := $(lastword $(MAKEFILE_LIST))
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PARENT_MAKEFILE := $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
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############################################################################
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# Get configuration
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#
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-include $(TOPDIR)/.config
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-include $(TOPDIR)/Make.defs
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include $(APPDIR)/Make.defs
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############################################################################
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# Sanity-check the information we've been given and set any defaults
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#
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SRCDIR ?= $(dir $(PARENT_MAKEFILE))
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PRIORITY ?= SCHED_PRIORITY_DEFAULT
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STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT
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INCLUDES += $(APPDIR)
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ASRCS ?= $(wildcard $(SRCDIR)/*.S)
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CSRCS ?= $(wildcard $(SRCDIR)/*.c)
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CXXSRCS ?= $(wildcard $(SRCDIR)/*.cpp)
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# if APPNAME is not set, this is a library
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ifeq ($(APPNAME),)
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LIBNAME ?= $(lastword $(subst /, ,$(realpath $(SRCDIR))))
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endif
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# there has to be a source file
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ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),)
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$(error $(realpath $(PARENT_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
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endif
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# check that C++ is configured if we have C++ source files and we are building
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ifneq ($(CXXSRCS),)
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ifneq ($(CONFIG_HAVE_CXX),y)
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ifeq ($(MAKECMDGOALS),build)
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$(error $(realpath $(PARENT_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
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endif
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endif
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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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CFLAGS += -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
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CXXFLAGS += -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
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############################################################################
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# Add extra include directories
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#
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CFLAGS += $(addprefix -I,$(INCLUDES))
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CXXFLAGS += $(addprefix -I,$(INCLUDES))
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############################################################################
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# Things we are going to build
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#
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SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS)
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AOBJS = $(patsubst %.S,%.o,$(ASRCS))
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COBJS = $(patsubst %.c,%.o,$(CSRCS))
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CXXOBJS = $(patsubst %.cpp,%.o,$(CXXSRCS))
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OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
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# The prelinked object that we are ultimately going to build
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ifneq ($(APPNAME),)
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PRELINKOBJ = $(APPNAME).pre.o
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else
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PRELINKOBJ = $(LIBNAME).pre.o
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endif
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# The archive that the object file will be placed in
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# XXX does WINTOOL ever get set?
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ifeq ($(WINTOOL),y)
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INCDIROPT = -w
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BIN = "$(shell cygpath -w $(APPDIR)/libapps$(LIBEXT))"
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else
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BIN = "$(APPDIR)/libapps$(LIBEXT)"
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endif
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############################################################################
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# Rules for building things
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#
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all: .built
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.PHONY: clean depend distclean
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#
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# Top-level build; add prelinked object to the apps archive
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#
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.built: $(PRELINKOBJ)
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@$(call ARCHIVE, $(BIN), $(PRELINKOBJ))
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@touch $@
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#
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# Source dependencies
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#
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depend: .depend
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.depend: $(MAKEFILE_LIST) $(SRCS)
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@$(MKDEP) --dep-path . $(CC) -- $(CFLAGS) -- $(CSRCS) >Make.dep
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@$(MKDEP) --dep-path . $(CXX) -- $(CXXFLAGS) -- $(CXXSRCS) >>Make.dep
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@touch $@
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ifneq ($(APPNAME),)
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#
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# App registration
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#
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context: .context
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.context: $(MAKEFILE_LIST)
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$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
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@touch $@
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else
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context:
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endif
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#
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# Object files
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#
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$(PRELINKOBJ): $(OBJS)
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$(call PRELINK, $@, $(OBJS))
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$(AOBJS): %.o : %.S
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$(call ASSEMBLE, $<, $@)
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$(COBJS): %.o : %.c
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$(call COMPILE, $<, $@)
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$(CXXOBJS): %.o : %.cpp
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$(call COMPILEXX, $<, $@)
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#
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# Tidying up
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#
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clean:
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@rm -f $(OBJS) $(PRELINKOBJ) Make.dep .built
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$(call CLEAN)
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distclean: clean
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@rm -f Make.dep .depend
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-include Make.dep
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