mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-31 12:23:23 +08:00
[chibios] add chibios-libopencm3 support
Only the realtime scheduler and SDIO driver from ChibiOS is used. This brings the support of the SD log on Apogee boards. The current solution is not fully satisfactory and is an intermediate solution before switching to a 'pure' ChibiOS arch. Some of the implementations can be cleaned and/or improved, but since it is not a long term solution, I doubt it is worth the effort here. Normal bare-metal libopencm3 code is of course still working. Git submodules: - chibios: 2.6.2 - fatfs: patched version for chibios+pprz
This commit is contained in:
Gautier Hattenberger
committed by
Felix Ruess
Felix Ruess
parent
daf9408171
commit
6ff0fc973b
@@ -0,0 +1,10 @@
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# List of all the board related files.
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CHIBIOSLIBSRC = ${CHIBIOS_LIB_DIR}/ringBuffer.c \
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${CHIBIOS_LIB_DIR}/chibios_stub.c \
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${CHIBIOS_LIB_DIR}/pprz_stub.c \
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${CHIBIOS_LIB_DIR}/varLengthMsgQ.c \
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${CHIBIOS_LIB_DIR}/rtcAccess.c \
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${CHIBIOS_LIB_DIR}/sdLog.c \
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${CHIBIOS_LIB_DIR}/chibios_sdlog.c \
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${CHIBIOS_LIB_DIR}/sdio.c \
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${CHIBIOS_LIB_DIR}/printf.c
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@@ -0,0 +1,24 @@
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# Extra rules for ChibiOS rules.mk
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#
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# Initial directory tree is preserved for the build
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#
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ECOBJS = $(addprefix $(OBJDIR)/, $(ECSRC:.c=.o))
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$(ECOBJS) : $(OBJDIR)/%.o : %.c Makefile
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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VPATH=
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test -d $(dir $@) || mkdir -p $(dir $@)
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$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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else
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@echo Compiling $(<F)
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@VPATH=
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@test -d $(dir $@) || mkdir -p $(dir $@)
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@$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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endif
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OBJS += $(ECOBJS)
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# *** EOF ***
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@@ -0,0 +1,228 @@
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# ARM Cortex-Mx common makefile scripts and rules.
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# Output directory and files
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ifeq ($(BUILDDIR),)
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BUILDDIR = build
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endif
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ifeq ($(BUILDDIR),.)
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BUILDDIR = build
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endif
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OUTFILES = $(BUILDDIR)/$(PROJECT).elf $(BUILDDIR)/$(PROJECT).hex \
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$(BUILDDIR)/$(PROJECT).bin $(BUILDDIR)/$(PROJECT).dmp
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# Automatic compiler options
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OPT = $(USE_OPT)
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COPT = $(USE_COPT)
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CPPOPT = $(USE_CPPOPT)
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ifeq ($(USE_LINK_GC),yes)
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OPT += -ffunction-sections -fdata-sections -fno-common
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endif
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# Source files groups and paths
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ifeq ($(USE_THUMB),yes)
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TCSRC += $(CSRC)
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TCPPSRC += $(CPPSRC)
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else
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ACSRC += $(CSRC)
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ACPPSRC += $(CPPSRC)
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endif
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ASRC = $(ACSRC)$(ACPPSRC)
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TSRC = $(TCSRC)$(TCPPSRC)
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SRCPATHS = $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)))
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# Various directories
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OBJDIR = $(BUILDDIR)/obj
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LSTDIR = $(BUILDDIR)/lst
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# Object files groups
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ACOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ACSRC:.c=.o)))
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ACPPOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ACPPSRC:.cpp=.o)))
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TCOBJS = $(addprefix $(OBJDIR)/, $(notdir $(TCSRC:.c=.o)))
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TCPPOBJS = $(addprefix $(OBJDIR)/, $(notdir $(TCPPSRC:.cpp=.o)))
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ASMOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ASMSRC:.s=.o)))
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ASMXOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ASMXSRC:.S=.o)))
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OBJS = $(ASMXOBJS) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS)
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# Paths
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IINCDIR = $(patsubst %,-I%,$(INCDIR) $(DINCDIR) $(UINCDIR))
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LLIBDIR = $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
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# Macros
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DEFS = $(DDEFS) $(UDEFS)
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ADEFS = $(DADEFS) $(UADEFS)
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# Libs
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LIBS = $(DLIBS) $(ULIBS)
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# Various settings
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MCFLAGS = -mcpu=$(MCU)
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ODFLAGS = -x --syms
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ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.s=.lst)) $(ADEFS)
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ASXFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.S=.lst)) $(ADEFS)
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CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.c=.lst)) $(DEFS)
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CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS)
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ifeq ($(USE_LINK_GC),yes)
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LDFLAGS = $(MCFLAGS) -nostartfiles -T$(LDSCRIPT) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--gc-sections $(LLIBDIR)
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else
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LDFLAGS = $(MCFLAGS) -nostartfiles -T$(LDSCRIPT) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch $(LLIBDIR)
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endif
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# Thumb interwork enabled only if needed because it kills performance.
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ifneq ($(TSRC),)
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CFLAGS += -DTHUMB_PRESENT
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CPPFLAGS += -DTHUMB_PRESENT
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ASFLAGS += -DTHUMB_PRESENT
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ifneq ($(ASRC),)
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# Mixed ARM and THUMB mode.
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CFLAGS += -mthumb-interwork
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CPPFLAGS += -mthumb-interwork
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ASFLAGS += -mthumb-interwork
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LDFLAGS += -mthumb-interwork
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else
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# Pure THUMB mode, THUMB C code cannot be called by ARM asm code directly.
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CFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING
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CPPFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING
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ASFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING -mthumb
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LDFLAGS += -mno-thumb-interwork -mthumb
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endif
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else
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# Pure ARM mode
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CFLAGS += -mno-thumb-interwork
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CPPFLAGS += -mno-thumb-interwork
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ASFLAGS += -mno-thumb-interwork
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LDFLAGS += -mno-thumb-interwork
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endif
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# Generate dependency information
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#CFLAGS += -MD -MP -MF $(BUILDDIR)/.dep/$(@F).d
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#CFLAGS += -MD -MP -MF .dep/$(@F).d
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CPPFLAGS += -MD -MP -MF .dep/$(@F).d
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# Paths where to search for sources
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VPATH = $(SRCPATHS)
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#
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# Include user extra rules if any
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#
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ifneq ($(EXTRA_RULES_INCLUDE_PATH),)
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include $(EXTRA_RULES_INCLUDE_PATH)
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endif
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#
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# Makefile rules
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#
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all: $(OBJS) $(OUTFILES) MAKE_ALL_RULE_HOOK
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MAKE_ALL_RULE_HOOK:
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$(OBJS): | $(BUILDDIR)
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$(BUILDDIR) $(OBJDIR) $(LSTDIR):
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ifneq ($(USE_VERBOSE_COMPILE),yes)
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@echo Compiler Options
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@echo $(CC) -c $(CFLAGS) -I. $(IINCDIR) main.c -o main.o
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@echo
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endif
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mkdir -p $(OBJDIR)
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mkdir -p $(LSTDIR)
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$(ACPPOBJS) : $(OBJDIR)/%.o : %.cpp Makefile
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(CPPC) -c $(CPPFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
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else
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@echo Compiling $(<F)
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@$(CPPC) -c $(CPPFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
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endif
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$(TCPPOBJS) : $(OBJDIR)/%.o : %.cpp Makefile
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(CPPC) -c $(CPPFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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else
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@echo Compiling $(<F)
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@$(CPPC) -c $(CPPFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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endif
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$(ACOBJS) : $(OBJDIR)/%.o : %.c Makefile
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(CC) -c $(CFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
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else
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@echo Compiling $(<F)
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@$(CC) -c $(CFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
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endif
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$(TCOBJS) : $(OBJDIR)/%.o : %.c Makefile
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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else
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@echo Compiling $(<F)
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@$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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endif
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$(ASMOBJS) : $(OBJDIR)/%.o : %.s Makefile
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(AS) -c $(ASFLAGS) -I. $(IINCDIR) $< -o $@
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else
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@echo Compiling $(<F)
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@$(AS) -c $(ASFLAGS) -I. $(IINCDIR) $< -o $@
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endif
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$(ASMXOBJS) : $(OBJDIR)/%.o : %.S Makefile
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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else
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@echo Compiling $(<F)
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@$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
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endif
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%.elf: $(OBJS) $(LDSCRIPT)
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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@echo
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$(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
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else
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@echo Linking $@
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@$(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
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endif
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%.hex: %.elf $(LDSCRIPT)
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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$(HEX) $< $@
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else
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@echo Creating $@
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@$(HEX) $< $@
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endif
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%.bin: %.elf $(LDSCRIPT)
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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$(BIN) $< $@
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else
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@echo Creating $@
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@$(BIN) $< $@
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endif
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%.dmp: %.elf $(LDSCRIPT)
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ifeq ($(USE_VERBOSE_COMPILE),yes)
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$(OD) $(ODFLAGS) $< > $@
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else
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@echo Creating $@
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@$(OD) $(ODFLAGS) $< > $@
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@echo Done
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endif
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clean:
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@echo Cleaning
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-rm -fR .dep $(BUILDDIR)
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@echo Done
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#
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# Include the dependency files, should be the last of the makefile
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#
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-include $(shell mkdir $(BUILDDIR)/.dep 2>/dev/null) $(wildcard $(BUILDDIR)/.dep/*)
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# *** EOF ***
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@@ -0,0 +1,7 @@
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# FATFS files.
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FATFSSRC = ${CHIBIOS}/os/various/fatfs_bindings/fatfs_diskio.c \
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${CHIBIOS}/os/various/fatfs_bindings/fatfs_syscall.c \
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${PAPARAZZI_SRC}/sw/ext/fatfs/src/ff.c \
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${PAPARAZZI_SRC}/sw/ext/fatfs/src/option/ccsbcs.c
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FATFSINC = ${PAPARAZZI_SRC}/sw/ext/fatfs/src
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