mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
377 lines
10 KiB
Makefile
377 lines
10 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# $Id$
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# Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
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#
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# This file is part of paparazzi.
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#
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# paparazzi 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 2, or (at your option)
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# any later version.
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#
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# paparazzi 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 paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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#
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#
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# This is the common Makefile for the arm7-target.
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#
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#TODO: this is not needed in some cases (e.g. ap target as it is defined there already)
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# but it is needed for other targets like tunnel
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# only define here or elsewhere?
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SRC_ARCH = arch/lpc21
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# Programs location
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# try to find the paparazzi multilib toolchain
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TOOLCHAIN=$(shell find -L /opt/paparazzi/arm-multilib ~/sat -maxdepth 1 -type d -name arm-none-eabi 2>/dev/null | head -n 1)
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#
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# found the new paparazzi toolchain, use it
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#
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ifneq ($(TOOLCHAIN),)
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TOOLCHAIN_DIR=$(shell dirname $(TOOLCHAIN))
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GCC_BIN_DIR=$(TOOLCHAIN_DIR)/bin
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GCC_LIB_DIR=$(TOOLCHAIN_DIR)/arm-none-eabi/lib
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GCC_BIN_PREFIX=$(GCC_BIN_DIR)/arm-none-eabi
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CC = $(GCC_BIN_PREFIX)-gcc
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LD = $(GCC_BIN_PREFIX)-gcc
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OBJCOPY = $(GCC_BIN_PREFIX)-objcopy
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OBJDUMP = $(GCC_BIN_PREFIX)-objdump
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NM = $(GCC_BIN_PREFIX)-nm
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SIZE = $(GCC_BIN_PREFIX)-size
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#
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# If we can't find the toolchain (in /opt/paparazzi/arm-multilib or ~/sat) then try picking up the compilers from the path
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#
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else
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# see if we can find the new arm-none-eabi, otherwise use the older arm-elf
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HAVE_ARM_NONE_EABI_GCC := $(shell which arm-none-eabi-gcc)
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ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),)
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GCC_PREFIX = arm-elf
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else
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GCC_PREFIX = arm-none-eabi
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GCC_LIB_DIR=$(shell dirname `which arm-none-eabi-gcc`)/../arm-none-eabi/lib
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endif
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CC = $(shell which $(GCC_PREFIX)-gcc)
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LD = $(shell which $(GCC_PREFIX)-gcc)
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OBJCOPY = $(shell which $(GCC_PREFIX)-objcopy)
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OBJDUMP = $(shell which $(GCC_PREFIX)-objdump)
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NM = $(shell which $(GCC_PREFIX)-nm)
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SIZE = $(shell which $(GCC_PREFIX)-size)
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endif
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#first try to find OpenOCD in the path
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OOCD = $(shell which openocd)
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#if OpenOCD could not be found in the path, try the toolchain dir
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ifeq ($(OOCD),)
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ifneq ($(TOOLCHAIN),)
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OOCD = $(shell if test -e $(TOOLCHAIN_DIR)/bin/openocd ; then echo $(TOOLCHAIN_DIR)/bin/openocd ; else echo "Warning: OpenOCD not found"; fi)
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endif
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endif
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# Define some other programs and commands.
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SHELL = sh
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REMOVE = rm -f
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COPY = cp
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MULTILIB = $(shell if $(CC) --print-multi-lib | grep thumb2 > /dev/null ; then echo "yes"; else echo "no"; fi)
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# Launch with "make Q=''" to get full command display
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Q=@
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# MCU name and submodel
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MCU = arm7tdmi
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THUMB = -mthumb
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THUMB_IW = -mthumb-interwork
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# Output format. (can be srec, ihex, binary)
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FORMAT = ihex
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#FLASH_MODE=ISP
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SRCARM = $($(TARGET).srcs)
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ASRCARM = crt0.S
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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OPT = s
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#OPT=3
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CSTANDARD = -std=gnu99
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CINCS = $(INCLUDES) -I $(SRC_ARCH)/include
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# Compiler flags.
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CFLAGS = $(CINCS)
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CFLAGS += -O$(OPT)
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# CFLAGS += -malignment-traps
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CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align
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CFLAGS += -Wpointer-arith -Wswitch
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CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
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CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
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CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
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CFLAGS += -ffunction-sections -fdata-sections
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CFLAGS += -finline-limit=1200 --param inline-unit-growth=100
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# flags only for C
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CFLAGS += -Wstrict-prototypes -Wmissing-declarations
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CFLAGS += -Wmissing-prototypes -Wnested-externs
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CFLAGS += $(CSTANDARD)
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CFLAGS += $($(TARGET).CFLAGS) $(LOCAL_CFLAGS)
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# Assembler flags.
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ASFLAGS = -Wa,-adhlns=$(OBJDIR)/$(notdir $(<:.S=.lst))
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#Additional libraries.
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MATH_LIB = -lm
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# Linker flags.
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LDFLAGS = -n -nostartfiles -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref
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LDFLAGS += -lc
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LDFLAGS += $(NEWLIBLPC) $(MATH_LIB)
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LDFLAGS += -lc -lgcc
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LDFLAGS += $(CPLUSPLUS_LIB)
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LDFLAGS += -Wl,--gc-sections
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# -lusbstack -Larm7/lpcusb
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ifndef LDSCRIPT
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ifeq ($(FLASH_MODE),ISP)
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LDSCRIPT = $(SRC_ARCH)/LPC2148-ROM.ld
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else ifeq ($(FLASH_MODE),ISP)
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LDSCRIPT = $(SRC_ARCH)/LPC2148-ROM.ld
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else
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LDSCRIPT = $(SRC_ARCH)/LPC2148-ROM-bl.ld
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endif
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endif
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LDFLAGS +=-T$(LDSCRIPT)
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#endif
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# ---------------------------------------------------------------------------
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# Flash-Programming support using lpc21isp by Martin Maurer
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# Settings and variables:
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LPC21ISP = lpc21isp
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ifndef LPC21ISP_PORT
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LPC21ISP_PORT = /dev/ttyS0
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endif
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LPC21ISP_FLASHFILE = $(OBJDIR)/$(TARGET).hex
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# verbose output:
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#LPC21ISP_DEBUG = -debug
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# enter bootloader via RS232 DTR/RTS (only if hardware supports this
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# feature - see Philips AppNote):
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ifndef LPC21ISP_CONTROL
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LPC21ISP_CONTROL =
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# -control
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endif
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# ---------------------------------------------------------------------------
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# Flash-Programming support using lpc21iap by Martin Muller (usb bootloader)
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LPC21IAP = $(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap
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# ---------------------------------------------------------------------------
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# Flash-Programming support using openocd
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OOCD_INTERFACE = arm-usb-ocd
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OOCD_TARGET = csc
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# Define all object files.
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COBJ = $(SRC:%.c=$(OBJDIR)/%.o)
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AOBJ = $(ASRC:%.S=$(OBJDIR)/%.o)
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COBJARM = $(SRCARM:%.c=$(OBJDIR)/%.o)
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AOBJARM = $(ASRCARM:%.S=$(OBJDIR)/%.o)
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# Define all listing files.
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LST = $(ASRC:.S=.lst) $(ASRCARM:.S=.lst) $(SRC:.c=.lst) $(SRCARM:.c=.lst)
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# Compiler flags to generate dependency files.
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GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
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# Combine all necessary flags and optional flags.
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# Add target processor to flags.
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ALL_CFLAGS = -mcpu=$(MCU) $(THUMB_IW) -I. $(CFLAGS)
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ALL_ASFLAGS = -mcpu=$(MCU) $(THUMB_IW) -I. -x assembler-with-cpp $(ASFLAGS)
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# Default target.
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all: printcommands printmultilib sizebefore build sizeafter
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printcommands:
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@echo "Using CC = $(CC)"
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@echo "Using LD = $(LD)"
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@echo "Using CP = $(OBJCOPY)"
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@echo "Using DMP = $(OBJDUMP)"
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@echo "Using NM = $(NM)"
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@echo "Using SIZE = $(SIZE)"
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@echo "GCC version:"
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@$(CC) --version | head -1
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ifeq ("$(MULTILIB)","yes")
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printmultilib:
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@echo "*** Using multilib ***"
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@echo "--------------------------------------"
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else
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printmultilib:
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@echo "*** NOT using multilib ***"
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@echo "--------------------------------------"
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endif
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build: elf hex lss sym
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elf: $(OBJDIR)/$(TARGET).elf
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hex: $(OBJDIR)/$(TARGET).hex
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lss: $(OBJDIR)/$(TARGET).lss
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sym: $(OBJDIR)/$(TARGET).sym
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# Display size of file.
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HEXSIZE = $(SIZE) --target=$(FORMAT) $(OBJDIR)/$(TARGET).hex
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ELFSIZE = $(SIZE) -A $(OBJDIR)/$(TARGET).elf
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sizebefore:
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@if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; echo "Previous size:"; $(ELFSIZE); fi
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sizeafter:
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@if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; echo "Current size:"; $(ELFSIZE); fi
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# Program the device.
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load upload program: $(OBJDIR)/$(TARGET).hex
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ifeq ($(FLASH_MODE),IAP)
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$(SUDO) $(LPC21IAP) $(OBJDIR)/$(TARGET).elf
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else ifeq ($(FLASH_MODE),JTAG)
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@echo "Using OOCD = $(OOCD)"
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@echo -e " OOCD\t$<"
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$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
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-f board/$(OOCD_TARGET).cfg \
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-c init \
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-c "reset halt" \
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-c "flash write_image erase $(OBJDIR)/$(TARGET).bin 0x08000000" \
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-c reset \
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-c shutdown
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else
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@echo
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$(LPC21ISP) $(LPC21ISP_CONTROL) $(LPC21ISP_DEBUG) $(LPC21ISP_FLASHFILE) $(LPC21ISP_PORT) $(LPC21ISP_BAUD) $(LPC21ISP_XTAL)
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endif
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# Create final output files (.hex, .eep) from ELF output file.
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# TODO: handling the .eeprom-section should be redundant
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%.hex: %.elf
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@echo OBJC $@
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$(Q)$(OBJCOPY) -O $(FORMAT) $< $@
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# Create extended listing file from ELF output file.
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# testing: option -C
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%.lss: %.elf
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@echo OBJD $@
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$(Q)$(OBJDUMP) -h -S -C $< > $@
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# Create a symbol table from ELF output file.
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%.sym: %.elf
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@echo NM $@
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$(Q)$(NM) -n $< > $@
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# Link: create ELF output file from object files.
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.SECONDARY : $(OBJDIR)/$(TARGET).elf
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.PRECIOUS : $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ)
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%.elf: $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ)
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@echo LD $@
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$(Q)$(CC) $(THUMB) $(ALL_CFLAGS) $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ) --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS)
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# Compile: create object files from C source files. ARM-only
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$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
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@echo CC $@
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$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
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$(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
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$(OBJDIR)/%.o : $(SRC_ARCH)/lpcusb/%.c $(OBJDIR)/../Makefile.ac
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@echo CC $@
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$(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
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# grab files in var/$(AIRCRAFT)/$(TARGET) aka $(OBJDIR)
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#$(OBJDIR)/%.o : $(OBJDIR)/%.c
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# @echo CC $@
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# $(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
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# Assemble: create object files from assembler source files. ARM/Thumb
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$(AOBJ) : $(OBJDIR)/%.o : %.S
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@echo AS $@
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$(Q)$(CC) -c $(THUMB) $(ALL_ASFLAGS) $< -o $@
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# Assemble: create object files from assembler source files. ARM-only
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$(AOBJARM) : $(OBJDIR)/%.o : $(SRC_ARCH)/%.S
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@echo AS $@
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$(Q)$(CC) -c $(ALL_ASFLAGS) $< -o $@
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# Target: clean project.
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clean: clean_list
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clean_list :
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@echo
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$(REMOVE) $(OBJDIR)/$(TARGET).hex
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$(REMOVE) $(OBJDIR)/$(TARGET).obj
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$(REMOVE) $(OBJDIR)/$(TARGET).elf
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$(REMOVE) $(OBJDIR)/$(TARGET).map
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$(REMOVE) $(OBJDIR)/$(TARGET).obj
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$(REMOVE) $(OBJDIR)/$(TARGET).a90
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$(REMOVE) $(OBJDIR)/$(TARGET).sym
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$(REMOVE) $(OBJDIR)/$(TARGET).lnk
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$(REMOVE) $(OBJDIR)/$(TARGET).lss
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$(REMOVE) $(COBJ)
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$(REMOVE) $(AOBJ)
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$(REMOVE) $(COBJARM)
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$(REMOVE) $(AOBJARM)
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$(REMOVE) $(LST)
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$(REMOVE) $(SRC:.c=.s)
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$(REMOVE) $(SRC:.c=.d)
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$(REMOVE) $(SRCARM:.c=.s)
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$(REMOVE) $(SRCARM:.c=.d)
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$(REMOVE) .dep/*
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$(REMOVE) *~
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# Listing of phony targets.
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.PHONY : all sizebefore sizeafter \
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build elf hex lss sym clean clean_list program
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#
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# Dependencies
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#
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$(OBJDIR)/.depend:
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@echo DEPEND $@
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@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
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$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
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ifneq ($(MAKECMDGOALS),clean)
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ifneq ($(MAKECMDGOALS),erase)
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-include $(OBJDIR)/.depend
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endif
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endif
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