mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 12:28:03 +08:00
Felix Ruess
8df5ffbadc
Also replace LOCAL_CFLAGS (which wasn't used anymore) with USER_CFLAGS (and add where missing). Now you can e.g. test compile all aircrafts/targets in your conf and add extra flags like treating warnings as errors: $ J=AUTO USER_CFLAGS=-Werror prove conf/examples
326 lines
9.1 KiB
Makefile
326 lines
9.1 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2012 The Paparazzi Team
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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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# Verify that libopencm3 is compiled with chibios compatible float abi
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# correct abi is -mfloat-abi=softfp
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# on non chibios branches, libopencm3 is compiled with more optimised -mfloat-abi=hard
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TAG_ABI_VFP_COUNT= \
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$(shell (readelf -A $(PAPARAZZI_SRC)/sw/ext/libopencm3/lib/libopencm3_stm32f4.a | \
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grep -c Tag_ABI_VFP_args))
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ifneq ($(TAG_ABI_VFP_COUNT),0)
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$(error libopencm3_stm32f4.a is generated with chibios incompatible -mfloat-abi=hard, \
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please recompile with -mfloat-abi=softfp))
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endif
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#
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# This is the common Makefile for target using chibios
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CHIBIOS_BOARD_DIR = $(PAPARAZZI_SRC)/sw/airborne/boards/$(BOARD)/chibios-libopencm3
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CHIBIOS_LIB_DIR = $(PAPARAZZI_SRC)/sw/airborne/subsystems/chibios-libopencm3
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CHIBIOS_EXT = $(PAPARAZZI_SRC)/sw/ext/chibios
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OPENCM3_EXT = $(PAPARAZZI_SRC)/sw/ext/libopencm3
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PPRZ_GENERATED = $(AIRCRAFT_BUILD_DIR)/$(AIRCRAFT)/$(TARGET)/generated
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PPRZ_CHIBIOS_OCM3 = $(SRC_FIRMWARE)/chibios-libopencm3
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# Launch with "make Q=''" to get full command display
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Q=@
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#
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# General rules
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#
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$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
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$(TARGET).objso = $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
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$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
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##############################################################################
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# Build global options
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# NOTE: Can be overridden externally.
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#
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# Paparazzi options here.
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ifeq ($(PPRZ_DEFINITION),)
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PPRZ_DEFINITION = -DRTOS_IS_CHIBIOS -DUSE_ADC_WATCHDOG -DSYS_TIME_FREQUENCY=1000
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endif
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# Compiler options here.
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ifeq ($(USE_OPT),)
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# ChibiOS already define OPT
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CH_OPT ?= 0 -g -ggdb3 -fno-inline
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USE_OPT = -std=gnu11 -O$(CH_OPT) \
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-falign-functions=16 -fno-omit-frame-pointer\
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-W -Wall -Werror -Wno-error=unused-variable -Wno-error=format \
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-Wno-error=unused-function -Wno-error=unused-parameter \
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$(PPRZ_DEFINITION)
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endif
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# C specific options here (added to USE_OPT).
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ifeq ($(USE_COPT),)
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USE_COPT =
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endif
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# C++ specific options here (added to USE_OPT).
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ifeq ($(USE_CPPOPT),)
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USE_CPPOPT = -fno-rtti
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endif
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# Enable this if you want the linker to remove unused code and data
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ifeq ($(USE_LINK_GC),)
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USE_LINK_GC = yes
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endif
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# 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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ifeq ($(Q),@)
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USE_VERBOSE_COMPILE = no
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else
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USE_VERBOSE_COMPILE = yes
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endif
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endif
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#
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# Build global options
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##############################################################################
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##############################################################################
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# Architecture or project specific options
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#
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# Enables the use of FPU on Cortex-M4.
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ifeq ($(USE_FPU),)
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USE_FPU = yes
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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 = ap
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# Imported source files and paths
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CHIBIOS = $(CHIBIOS_EXT)
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OPENCM3 = $(OPENCM3_EXT)
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OPENCM3_INC = $(OPENCM3)/include
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OPENCM3_LIB = $(OPENCM3)/lib/
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include $(CHIBIOS_BOARD_DIR)/board.mk
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include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
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include $(CHIBIOS)/os/hal/hal.mk
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include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
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#include $(CHIBIOS)/os/various/fatfs_bindings/fatfs.mk
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include $(PAPARAZZI_HOME)/conf/chibios/fatfs.mk
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include $(PAPARAZZI_HOME)/conf/chibios/chibi_lib_for_pprz.mk
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# HACK : in order to make chibios to work with opencm3, we need a specially crafted
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# vector.c file, with some vectors for chibios, and others for opencm3
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# shunting should be done in mcuconf.h
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PORTSRC := $(subst $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/vectors.c,\
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$(PAPARAZZI_SRC)/sw/airborne/arch/stm32/stm32f4_chibios_vectors.c,\
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$(PORTSRC))
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include $(CHIBIOS)/os/kernel/kernel.mk
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# Define linker script file here
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LDSCRIPT= $($(TARGET).LDSCRIPT)
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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 = $(PORTSRC) \
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$(KERNSRC) \
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$(TESTSRC) \
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$(HALSRC) \
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$(PLATFORMSRC) \
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$(BOARDSRC) \
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$(FATFSSRC) \
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$(CHIBIOSLIBSRC) \
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$(CHIBIOS)/os/various/chrtclib.c \
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$(CHIBIOS)/os/various/syscalls.c
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ECSRC = $($(TARGET).srcs)
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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 =
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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 =
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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 =
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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 =
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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 =
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# List ASM source files here
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ASMSRC = $(PORTASM)
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INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
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$(HALINC) $(PLATFORMINC) $(BOARDINC) \
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$(CHIBIOS)/os/various $(OPENCM3_INC) \
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$(CHIBIOS_BOARD_DIR) $(CHIBIOS_LIB_DIR) \
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$(PPRZ_GENERATED) $(FATFSINC) \
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$(PPRZ_CHIBIOS_OCM3)
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BUILDDIR := $(OBJDIR)
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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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#
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MCU = cortex-m4
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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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OD = $(TRGT)objdump
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HEX = $(CP) -O ihex
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BIN = $(CP) -O binary
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# ARM-specific options here
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AOPT =
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# THUMB-specific options here
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TOPT = -mthumb -DTHUMB
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# Define C warning options here
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CWARN = -Wall -Wextra -Wstrict-prototypes
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# Define C++ warning options here
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CPPWARN = -Wall -Wextra
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#
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# Compiler settings
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##############################################################################
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##############################################################################
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# Start of default section
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#
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# List all default C defines here, like -D_DEBUG=1
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DDEFS = -DSTM32F4
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#DDEFS =
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# List all default ASM defines here, like -D_DEBUG=1
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DADEFS =
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# List all default directories to look for include files here
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DINCDIR =
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# List the default directory to look for the libraries here
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DLIBDIR = $(OPENCM3_LIB)
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# List all default libraries here
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DLIBS = -lm -lopencm3_stm32f4
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#DLIBS = -lm -lc -lnosys -nostartfiles -Wl,--gc-sections
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#
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# End of default section
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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 = $($(TARGET).CFLAGS) $(USER_CFLAGS) -DUSE_OCM3_SYSTICK_INIT=0
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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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# remove -I before include dir because ChibiOS is adding them again
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UINCDIR = $(patsubst -I%,%,$(INCLUDES))
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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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#
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# Include upload rules
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##############################################################################
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include $(PAPARAZZI_HOME)/conf/Makefile.arm-embedded-toolchain
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include $(PAPARAZZI_HOME)/conf/Makefile.stm32-upload
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ifeq ($(USE_FPU),yes)
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USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
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DDEFS += -DCORTEX_USE_FPU=TRUE
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else
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DDEFS += -DCORTEX_USE_FPU=FALSE
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endif
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EXTRA_RULES_INCLUDE_PATH = $(PAPARAZZI_HOME)/conf/chibios/chibios_extra_rules.mk
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include $(PAPARAZZI_HOME)/conf/chibios/chibios_rules.mk
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#include $(CHIBIOS_EXT)/os/ports/GCC/ARMCMx/rules.mk
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