mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Piotr Esden-Tempski
d683d4b52a
needs openocd 0.6 or higher, which should be the case on all our supported ubuntu versions
292 lines
7.7 KiB
Makefile
292 lines
7.7 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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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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# Launch with "make Q=''" to get full command display
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Q=@
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#
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# find compiler toolchain
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#
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ALLOW_OLD_ARM_MULTILIB_TOOLCHAIN = 1
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include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-toolchain
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#
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# if the new arm-none-eabi multilib compiler was not found try the old arm-elf one
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#
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ifeq ($(CC),)
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CC = $(shell which arm-elf-gcc)
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LD = $(shell which arm-elf-gcc)
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CP = $(shell which arm-elf-objcopy)
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DMP = $(shell which arm-elf-objdump)
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NM = $(shell which arm-elf-nm)
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SIZE = $(shell which arm-elf-size)
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endif
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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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OPT ?= s
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# Slightly bigger .elf files but gains the ability to decode macros
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DEBUG_FLAGS ?= -ggdb3
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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 += $(DEBUG_FLAGS)
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# CFLAGS += -malignment-traps
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CFLAGS += -Wa,-adhlns=$(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 for warnings
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CFLAGS += -Wall -Wextra -Wunused
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CFLAGS += -Wcast-qual
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CFLAGS += -Wcast-align
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CFLAGS += -Wpointer-arith
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CFLAGS += -Wswitch-default
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CFLAGS += -Wredundant-decls -Wmissing-declarations
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CFLAGS += -Wstrict-prototypes -Wmissing-prototypes
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CFLAGS += -Wshadow
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CFLAGS += -Wnested-externs
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CFLAGS += $(CSTANDARD)
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CFLAGS += $($(TARGET).CFLAGS) $(USER_CFLAGS) $(BOARD_CFLAGS)
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# on old lpc, avoid using double precision in some geodetic functions
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CFLAGS += -DUSE_SINGLE_PRECISION_LLA_ECEF
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# LPC21 doesn't support unaligned data access
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CFLAGS += -DPPRZLINK_UNALIGNED_ACCESS=0
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# Assembler flags.
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ASFLAGS = -Wa,-adhlns=$(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 += $(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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LDFLAGS += $(BOARD_LDFLAGS)
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ifndef LDSCRIPT
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ifeq ($(FLASH_MODE),ISP)
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LDSCRIPT = $(SRC_ARCH)/LPC2148-ROM.ld
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else
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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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# ---------------------------------------------------------------------------
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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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LPC21ISP_PORT ?= /dev/ttyS0
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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 ?= openocd
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OOCD_INTERFACE = ftdi/olimex-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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# some common informative targets
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include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-common
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# Default target.
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all: printcommands sizebefore build sizeafter
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# depend order only for parallel make
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sizebefore: | printcommands
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build: | printcommands sizebefore
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sizeafter: | build
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build: $(OBJDIR) elf hex lss sym
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$(OBJDIR):
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@echo CREATING object dir $(OBJDIR)
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@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
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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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# Program the device.
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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)$(CP) -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)$(DMP) -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) -MMD -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) -MMD -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
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# grab files in var/aircrafts/$(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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# Listing of phony targets.
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.PHONY : all build elf hex lss sym upload program
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#
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# Dependencies
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#
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DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
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ifneq ($(MAKECMDGOALS),clean)
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-include $(DEPS)
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endif
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