mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-15 04:15:44 +03:00
5bf4f71a6d
First pass at GHST driver including low-latency control, and basic telemetry. Fix Ghost channel scaling Use ghstChannelData instead of rxRuntimeState->channelData Integrate PR feedback Primarily de-tab and a few cosmetic changes. Keep Travis CI happy Removed unused function Rework ghost driver to reduce time in ISR, move processing As requested in PR review. Fixed issue in telemetry driver, mAh consumed is transmitted as units of 10mAh, not 1mAh. Resolve Packet Collision Issue with GHST Send telemetry packets only within a well defined time slot after an incoming Rx packet. Remove unnecessary comment rxRefreshRate doesn't need to be dynamic. Ghost - Remove special case from scheduler No need to reschedule telemetry for the Ghost protocol.
452 lines
15 KiB
Makefile
452 lines
15 KiB
Makefile
COMMON_SRC = \
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build/build_config.c \
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build/debug.c \
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build/debug_pin.c \
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build/version.c \
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$(TARGET_DIR_SRC) \
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main.c \
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$(addprefix pg/, $(notdir $(wildcard $(SRC_DIR)/pg/*.c))) \
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$(addprefix common/,$(notdir $(wildcard $(SRC_DIR)/common/*.c))) \
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$(addprefix config/,$(notdir $(wildcard $(SRC_DIR)/config/*.c))) \
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cli/cli.c \
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cli/settings.c \
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config/config.c \
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drivers/adc.c \
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drivers/dshot.c \
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drivers/dshot_dpwm.c \
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drivers/dshot_command.c \
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drivers/buf_writer.c \
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drivers/bus.c \
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drivers/bus_i2c_config.c \
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drivers/bus_i2c_busdev.c \
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drivers/bus_i2c_soft.c \
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drivers/bus_quadspi.c \
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drivers/bus_spi.c \
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drivers/bus_spi_config.c \
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drivers/bus_spi_pinconfig.c \
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drivers/buttons.c \
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drivers/display.c \
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drivers/display_canvas.c \
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drivers/dma_reqmap.c \
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drivers/exti.c \
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drivers/io.c \
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drivers/light_led.c \
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drivers/mco.c \
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drivers/motor.c \
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drivers/pinio.c \
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drivers/pin_pull_up_down.c \
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drivers/resource.c \
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drivers/rcc.c \
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drivers/serial.c \
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drivers/serial_pinconfig.c \
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drivers/serial_uart.c \
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drivers/serial_uart_pinconfig.c \
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drivers/sound_beeper.c \
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drivers/stack_check.c \
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drivers/system.c \
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drivers/timer_common.c \
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drivers/timer.c \
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drivers/transponder_ir_arcitimer.c \
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drivers/transponder_ir_ilap.c \
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drivers/transponder_ir_erlt.c \
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fc/board_info.c \
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fc/dispatch.c \
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fc/hardfaults.c \
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fc/tasks.c \
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fc/runtime_config.c \
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fc/stats.c \
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io/beeper.c \
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io/piniobox.c \
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io/serial.c \
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io/smartaudio_protocol.c \
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io/statusindicator.c \
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io/tramp_protocol.c \
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io/transponder_ir.c \
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io/usb_cdc_hid.c \
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io/usb_msc.c \
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msp/msp.c \
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msp/msp_box.c \
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msp/msp_serial.c \
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scheduler/scheduler.c \
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sensors/adcinternal.c \
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sensors/battery.c \
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sensors/current.c \
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sensors/voltage.c \
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target/config_helper.c \
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fc/init.c \
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fc/controlrate_profile.c \
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drivers/camera_control.c \
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drivers/accgyro/gyro_sync.c \
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drivers/pwm_esc_detect.c \
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drivers/pwm_output.c \
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drivers/rx/rx_spi.c \
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drivers/rx/rx_xn297.c \
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drivers/rx/rx_pwm.c \
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drivers/serial_softserial.c \
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fc/core.c \
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fc/rc.c \
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fc/rc_adjustments.c \
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fc/rc_controls.c \
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fc/rc_modes.c \
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flight/position.c \
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flight/failsafe.c \
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flight/gps_rescue.c \
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flight/gyroanalyse.c \
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flight/imu.c \
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flight/interpolated_setpoint.c \
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flight/mixer.c \
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flight/mixer_init.c \
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flight/mixer_tricopter.c \
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flight/pid.c \
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flight/pid_init.c \
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flight/rpm_filter.c \
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flight/servos.c \
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flight/servos_tricopter.c \
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io/serial_4way.c \
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io/serial_4way_avrootloader.c \
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io/serial_4way_stk500v2.c \
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rx/ibus.c \
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rx/jetiexbus.c \
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rx/msp.c \
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rx/pwm.c \
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rx/frsky_crc.c \
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rx/rx.c \
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rx/rx_bind.c \
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rx/rx_spi.c \
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rx/rx_spi_common.c \
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rx/crsf.c \
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rx/ghst.c \
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rx/sbus.c \
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rx/sbus_channels.c \
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rx/spektrum.c \
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rx/srxl2.c \
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io/spektrum_vtx_control.c \
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io/spektrum_rssi.c \
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rx/sumd.c \
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rx/sumh.c \
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rx/xbus.c \
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rx/fport.c \
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rx/msp_override.c \
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sensors/acceleration.c \
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sensors/boardalignment.c \
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sensors/compass.c \
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sensors/gyro.c \
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sensors/gyro_init.c \
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sensors/initialisation.c \
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blackbox/blackbox.c \
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blackbox/blackbox_encoding.c \
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blackbox/blackbox_io.c \
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cms/cms.c \
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cms/cms_menu_blackbox.c \
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cms/cms_menu_failsafe.c \
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cms/cms_menu_firmware.c \
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cms/cms_menu_gps_rescue.c\
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cms/cms_menu_imu.c \
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cms/cms_menu_ledstrip.c \
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cms/cms_menu_main.c \
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cms/cms_menu_misc.c \
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cms/cms_menu_osd.c \
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cms/cms_menu_power.c \
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cms/cms_menu_saveexit.c \
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cms/cms_menu_vtx_common.c \
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cms/cms_menu_vtx_rtc6705.c \
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cms/cms_menu_vtx_smartaudio.c \
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cms/cms_menu_vtx_tramp.c \
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drivers/display_ug2864hsweg01.c \
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drivers/light_ws2811strip.c \
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drivers/rangefinder/rangefinder_hcsr04.c \
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drivers/rangefinder/rangefinder_lidartf.c \
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drivers/serial_escserial.c \
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drivers/vtx_common.c \
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drivers/vtx_table.c \
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io/dashboard.c \
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io/displayport_frsky_osd.c \
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io/displayport_max7456.c \
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io/displayport_msp.c \
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io/displayport_oled.c \
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io/displayport_srxl.c \
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io/displayport_crsf.c \
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io/displayport_hott.c \
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io/frsky_osd.c \
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io/rcdevice_cam.c \
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io/rcdevice.c \
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io/gps.c \
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io/ledstrip.c \
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io/pidaudio.c \
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osd/osd.c \
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osd/osd_elements.c \
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sensors/barometer.c \
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sensors/rangefinder.c \
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telemetry/telemetry.c \
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telemetry/crsf.c \
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telemetry/ghst.c \
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telemetry/srxl.c \
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telemetry/frsky_hub.c \
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telemetry/hott.c \
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telemetry/jetiexbus.c \
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telemetry/smartport.c \
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telemetry/ltm.c \
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telemetry/mavlink.c \
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telemetry/msp_shared.c \
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telemetry/ibus.c \
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telemetry/ibus_shared.c \
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sensors/esc_sensor.c \
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io/vtx.c \
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io/vtx_rtc6705.c \
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io/vtx_smartaudio.c \
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io/vtx_tramp.c \
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io/vtx_control.c \
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COMMON_DEVICE_SRC = \
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$(CMSIS_SRC) \
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$(DEVICE_STDPERIPH_SRC)
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COMMON_SRC := $(COMMON_SRC) $(COMMON_DEVICE_SRC)
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ifeq ($(EXST),yes)
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TARGET_FLAGS := -DUSE_EXST $(TARGET_FLAGS)
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endif
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ifeq ($(RAM_BASED),yes)
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TARGET_FLAGS := -DUSE_EXST -DCONFIG_IN_RAM -DRAMBASED $(TARGET_FLAGS)
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endif
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ifeq ($(SIMULATOR_BUILD),yes)
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TARGET_FLAGS := -DSIMULATOR_BUILD $(TARGET_FLAGS)
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endif
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SPEED_OPTIMISED_SRC := ""
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SIZE_OPTIMISED_SRC := ""
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ifneq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
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SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
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common/encoding.c \
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common/filter.c \
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common/maths.c \
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common/typeconversion.c \
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drivers/accgyro/accgyro_mpu.c \
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drivers/accgyro/accgyro_mpu3050.c \
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drivers/accgyro/accgyro_spi_bmi160.c \
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drivers/accgyro/accgyro_spi_bmi270.c \
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drivers/accgyro/accgyro_spi_lsm6dso.c \
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drivers/accgyro_legacy/accgyro_adxl345.c \
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drivers/accgyro_legacy/accgyro_bma280.c \
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drivers/accgyro_legacy/accgyro_l3g4200d.c \
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drivers/accgyro_legacy/accgyro_l3gd20.c \
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drivers/accgyro_legacy/accgyro_lsm303dlhc.c \
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drivers/accgyro_legacy/accgyro_mma845x.c \
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drivers/adc.c \
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drivers/buf_writer.c \
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drivers/bus.c \
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drivers/bus_quadspi.c \
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drivers/bus_spi.c \
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drivers/exti.c \
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drivers/io.c \
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drivers/pwm_output.c \
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drivers/rcc.c \
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drivers/serial.c \
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drivers/serial_uart.c \
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drivers/system.c \
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drivers/timer.c \
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fc/core.c \
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fc/tasks.c \
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fc/rc.c \
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fc/rc_controls.c \
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fc/runtime_config.c \
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flight/gyroanalyse.c \
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flight/imu.c \
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flight/mixer.c \
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flight/pid.c \
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flight/rpm_filter.c \
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rx/ibus.c \
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rx/rx.c \
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rx/rx_spi.c \
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rx/crsf.c \
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rx/frsky_crc.c \
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rx/sbus.c \
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rx/sbus_channels.c \
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rx/spektrum.c \
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rx/srxl2.c \
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rx/sumd.c \
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rx/xbus.c \
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rx/fport.c \
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scheduler/scheduler.c \
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sensors/acceleration.c \
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sensors/boardalignment.c \
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sensors/gyro.c \
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$(CMSIS_SRC) \
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$(DEVICE_STDPERIPH_SRC) \
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SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
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$(shell find $(SRC_DIR) -name '*_init.c') \
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bus_bst_stm32f30x.c \
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cli/cli.c \
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cli/settings.c \
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drivers/accgyro/accgyro_fake.c \
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drivers/barometer/barometer_bmp085.c \
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drivers/barometer/barometer_bmp280.c \
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drivers/barometer/barometer_fake.c \
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drivers/barometer/barometer_ms5611.c \
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drivers/barometer/barometer_lps.c \
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drivers/barometer/barometer_qmp6988.c \
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drivers/bus_i2c_config.c \
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drivers/bus_spi_config.c \
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drivers/bus_spi_pinconfig.c \
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drivers/compass/compass_ak8963.c \
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drivers/compass/compass_ak8975.c \
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drivers/compass/compass_fake.c \
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drivers/compass/compass_hmc5883l.c \
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drivers/compass/compass_qmc5883l.c \
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drivers/compass/compass_lis3mdl.c \
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drivers/display_ug2864hsweg01.c \
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drivers/inverter.c \
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drivers/light_ws2811strip.c \
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drivers/light_ws2811strip_hal.c \
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drivers/light_ws2811strip_stdperiph.c \
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drivers/serial_escserial.c \
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drivers/serial_pinconfig.c \
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drivers/serial_tcp.c \
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drivers/serial_uart_pinconfig.c \
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drivers/serial_usb_vcp.c \
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drivers/transponder_ir_io_hal.c \
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drivers/transponder_ir_io_stdperiph.c \
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drivers/vtx_rtc6705_soft_spi.c \
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drivers/vtx_rtc6705.c \
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drivers/vtx_common.c \
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fc/init.c \
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fc/board_info.c \
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config/config_eeprom.c \
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config/feature.c \
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config/config_streamer.c \
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i2c_bst.c \
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io/dashboard.c \
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io/serial.c \
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io/serial_4way.c \
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io/serial_4way_avrootloader.c \
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io/serial_4way_stk500v2.c \
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io/transponder_ir.c \
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io/usb_cdc_hid.c \
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msp/msp_serial.c \
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cms/cms.c \
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cms/cms_menu_blackbox.c \
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cms/cms_menu_failsafe.c \
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cms/cms_menu_firmware.c \
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cms/cms_menu_gps_rescue.c\
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cms/cms_menu_imu.c \
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cms/cms_menu_ledstrip.c \
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cms/cms_menu_main.c \
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cms/cms_menu_misc.c \
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cms/cms_menu_osd.c \
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cms/cms_menu_power.c \
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cms/cms_menu_saveexit.c \
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cms/cms_menu_vtx_common.c \
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cms/cms_menu_vtx_rtc6705.c \
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cms/cms_menu_vtx_smartaudio.c \
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cms/cms_menu_vtx_tramp.c \
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io/vtx.c \
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io/vtx_rtc6705.c \
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io/vtx_smartaudio.c \
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io/vtx_tramp.c \
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io/vtx_control.c \
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io/spektrum_vtx_control.c \
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osd/osd.c \
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osd/osd_elements.c \
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rx/rx_bind.c
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# Gyro driver files that only contain initialization and configuration code - not runtime code
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SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
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drivers/accgyro/accgyro_mpu6050.c \
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drivers/accgyro/accgyro_mpu6500.c \
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drivers/accgyro/accgyro_spi_mpu6000.c \
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drivers/accgyro/accgyro_spi_mpu6500.c \
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drivers/accgyro/accgyro_spi_mpu9250.c \
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drivers/accgyro/accgyro_spi_icm20689.c \
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drivers/accgyro/accgyro_spi_lsm6dso_init.c
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# F4 and F7 optimizations
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ifneq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
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SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
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drivers/bus_i2c_hal.c \
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drivers/bus_spi_ll.c \
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rx/frsky_crc.c \
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drivers/max7456.c \
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drivers/pwm_output_dshot.c \
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drivers/pwm_output_dshot_shared.c \
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drivers/pwm_output_dshot_hal.c
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SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
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drivers/bus_i2c_hal_init.c
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endif #!F3
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endif #!F1
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# check if target.mk supplied
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SRC := $(STARTUP_SRC) $(MCU_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
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# Files that should not be optimized, useful for debugging IMPRECISE cpu faults.
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# Specify FULL PATH, e.g. "./lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_sdmmc.c"
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NOT_OPTIMISED_SRC := $(NOT_OPTIMISED_SRC) \
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ifneq ($(DSP_LIB),)
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INCLUDE_DIRS += $(DSP_LIB)/Include
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SRC += $(DSP_LIB)/Source/BasicMathFunctions/arm_mult_f32.c
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SRC += $(DSP_LIB)/Source/TransformFunctions/arm_rfft_fast_f32.c
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SRC += $(DSP_LIB)/Source/TransformFunctions/arm_cfft_f32.c
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SRC += $(DSP_LIB)/Source/TransformFunctions/arm_rfft_fast_init_f32.c
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SRC += $(DSP_LIB)/Source/TransformFunctions/arm_cfft_radix8_f32.c
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SRC += $(DSP_LIB)/Source/CommonTables/arm_common_tables.c
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SRC += $(DSP_LIB)/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
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SRC += $(DSP_LIB)/Source/StatisticsFunctions/arm_max_f32.c
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SRC += $(wildcard $(DSP_LIB)/Source/*/*.S)
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endif
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ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
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SRC += \
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drivers/flash.c \
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drivers/flash_m25p16.c \
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drivers/flash_w25n01g.c \
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drivers/flash_w25m.c \
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io/flashfs.c \
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$(MSC_SRC)
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endif
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SRC += $(COMMON_SRC)
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#excludes
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SRC := $(filter-out $(MCU_EXCLUDES), $(SRC))
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ifneq ($(filter SDCARD_SPI,$(FEATURES)),)
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SRC += \
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drivers/sdcard.c \
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drivers/sdcard_spi.c \
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drivers/sdcard_standard.c \
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io/asyncfatfs/asyncfatfs.c \
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io/asyncfatfs/fat_standard.c \
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$(MSC_SRC)
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endif
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ifneq ($(filter SDCARD_SDIO,$(FEATURES)),)
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SRC += \
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drivers/sdcard.c \
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drivers/sdcard_sdio_baremetal.c \
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drivers/sdcard_standard.c \
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io/asyncfatfs/asyncfatfs.c \
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io/asyncfatfs/fat_standard.c \
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$(MSC_SRC)
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endif
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ifneq ($(filter VCP,$(FEATURES)),)
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SRC += $(VCP_SRC)
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endif
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ifneq ($(filter MSC,$(FEATURES)),)
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SRC += $(MSC_SRC)
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endif
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# end target specific make file checks
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# Search path and source files for the ST stdperiph library
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VPATH := $(VPATH):$(STDPERIPH_DIR)/src
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