mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-24 16:55:29 +03:00
074c4dec1c
Tests are now managed with cmake, with the intention of eventually moving the whole build system to it. The root Makefile still has a test target that has been adjusted to call into the appropriate cmake commands. Also, GTest library is now downloaded on demand the first time the tests are run, so we can delete it from the repository.
549 lines
16 KiB
Makefile
549 lines
16 KiB
Makefile
###############################################################################
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# "THE BEER-WARE LICENSE" (Revision 42):
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# <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
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# can do whatever you want with this stuff. If we meet some day, and you think
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# this stuff is worth it, you can buy me a beer in return
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###############################################################################
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#
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# Makefile for building the iNav firmware.
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#
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# Invoke this with 'make help' to see the list of supported targets.
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#
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###############################################################################
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# Root directory
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ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
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# developer preferences, edit these at will, they'll be gitignored
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-include $(ROOT)/make/local.mk
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# Things that the user might override on the commandline
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#
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# The target to build, see VALID_TARGETS below
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TARGET ?= REVO
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# Compile-time options
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OPTIONS ?=
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# Debugger optons, must be empty or GDB
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DEBUG ?=
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SEMIHOSTING ?=
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# Build suffix
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BUILD_SUFFIX ?=
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# Serial port/Device for flashing
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SERIAL_DEVICE ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
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# Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
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FLASH_SIZE ?=
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## V : Set verbosity level based on the V= parameter
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## V=0 Low
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## V=1 High
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export AT := @
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ifndef V
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export V0 :=
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export V1 := $(AT)
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export STDOUT :=
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else ifeq ($(V), 0)
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export V0 := $(AT)
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export V1 := $(AT)
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export STDOUT:= "> /dev/null"
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export MAKE := $(MAKE) --no-print-directory
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else ifeq ($(V), 1)
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export V0 :=
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export V1 :=
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export STDOUT :=
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endif
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###############################################################################
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# Things that need to be maintained as the source changes
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#
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# Working directories
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SRC_DIR := $(ROOT)/src/main
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BL_SRC_DIR := $(ROOT)/src/bl
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OBJECT_DIR := $(ROOT)/obj/main
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BL_OBJECT_DIR := $(ROOT)/obj/bl
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BIN_DIR := $(ROOT)/obj
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CMSIS_DIR := $(ROOT)/lib/main/CMSIS
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INCLUDE_DIRS := $(SRC_DIR) \
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$(ROOT)/src/main/target
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LINKER_DIR := $(ROOT)/src/main/target/link
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# import macros common to all supported build systems
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include $(ROOT)/make/system-id.mk
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# default xtal value for F4 targets
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HSE_VALUE = 8000000
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MHZ_VALUE ?=
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# used for turning on features like VCP and SDCARD
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FEATURES =
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include $(ROOT)/make/version.mk
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include $(ROOT)/make/targets.mk
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BUILD_DATE = $(shell date +%Y%m%d)
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# Search path for sources
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FATFS_DIR = $(ROOT)/lib/main/FatFS
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FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
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VPATH := $(SRC_DIR):$(SRC_DIR)/startup
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VPATH := $(VPATH):$(ROOT)/make/mcu
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VPATH := $(VPATH):$(ROOT)/make
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VPATH := $(VPATH):$(BL_SRC_DIR)
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CSOURCES := $(shell find $(SRC_DIR) -name '*.c')
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# start specific includes
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include $(ROOT)/make/mcu/STM32.mk
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include $(ROOT)/make/mcu/$(TARGET_MCU_GROUP).mk
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BL_LD_SCRIPT := $(basename $(LD_SCRIPT))_bl.ld
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ifneq ($(FOR_BL),)
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LD_SCRIPT := $(basename $(LD_SCRIPT))_for_bl.ld
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endif
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# Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
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ifeq ($(FLASH_SIZE),)
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ifneq ($(TARGET_FLASH),)
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FLASH_SIZE := $(TARGET_FLASH)
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else
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$(error FLASH_SIZE not configured for target $(TARGET))
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endif
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endif
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# Configure devide and target-specific defines and compiler flags
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DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
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TARGET_FLAGS := $(TARGET_FLAGS) -D$(TARGET_MCU) -D$(TARGET_MCU_GROUP) -D$(TARGET)
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ifneq ($(HSE_VALUE),)
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DEVICE_FLAGS := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
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endif
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ifneq ($(MHZ_VALUE),)
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DEVICE_FLAGS := $(DEVICE_FLAGS) -DMHZ_VALUE=$(MHZ_VALUE)
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endif
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ifneq ($(BASE_TARGET), $(TARGET))
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TARGET_FLAGS := $(TARGET_FLAGS) -D$(BASE_TARGET)
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endif
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TARGET_DIR = $(ROOT)/src/main/target/$(BASE_TARGET)
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TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
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INCLUDE_DIRS := $(INCLUDE_DIRS) \
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$(ROOT)/lib/main/MAVLink
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INCLUDE_DIRS := $(INCLUDE_DIRS) \
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$(TARGET_DIR)
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VPATH := $(VPATH):$(TARGET_DIR)
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.DEFAULT_GOAL := hex
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include $(ROOT)/make/source.mk
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include $(ROOT)/make/release.mk
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###############################################################################
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#
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# Toolchain installer
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#
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TOOLS_DIR := $(ROOT)/tools
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DL_DIR := $(ROOT)/downloads
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include $(ROOT)/make/tools.mk
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#
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# Tool names
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#
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CROSS_CC = $(ARM_SDK_PREFIX)gcc
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OBJCOPY = $(ARM_SDK_PREFIX)objcopy
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SIZE = $(ARM_SDK_PREFIX)size
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COMBINE_TOOL := src/utils/combine_tool
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#
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# Tool options.
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#
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# Save original CFLAGS before modifying them, so we don't
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# add them twice when calling this Makefile recursively
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# for each target
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SAVED_CFLAGS := $(CFLAGS)
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ifeq ($(DEBUG),GDB)
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LTO_FLAGS =
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else
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LTO_FLAGS = -flto -fuse-linker-plugin
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endif
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ifneq ($(SEMIHOSTING),)
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SEMIHOSTING_CFLAGS = -DSEMIHOSTING
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SEMIHOSTING_LDFLAGS = --specs=rdimon.specs -lc -lrdimon
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SYSLIB :=
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else
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SEMIHOSTING_CFLAGS =
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SEMIHOSTING_LDFLAGS =
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SYSLIB := -lnosys
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endif
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DEBUG_FLAGS = -ggdb3 -DDEBUG
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CFLAGS += $(ARCH_FLAGS) \
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$(LTO_FLAGS) \
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$(addprefix -D,$(OPTIONS)) \
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$(addprefix -I,$(INCLUDE_DIRS)) \
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$(DEBUG_FLAGS) \
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$(SEMIHOSTING_CFLAGS) \
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-std=gnu99 \
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-Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
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-Wstrict-prototypes \
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-Werror=switch \
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-ffunction-sections \
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-fdata-sections \
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-fno-common \
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$(DEVICE_FLAGS) \
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-DUSE_STDPERIPH_DRIVER \
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$(TARGET_FLAGS) \
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-D'__FORKNAME__="$(FORKNAME)"' \
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-D'__TARGET__="$(TARGET)"' \
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-D'__REVISION__="$(REVISION)"' \
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-save-temps=obj \
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-MMD -MP
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BL_CFLAGS = -DMSP_FIRMWARE_UPDATE -DBOOTLOADER
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ifneq ($(FOR_BL),)
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CFLAGS += -DMSP_FIRMWARE_UPDATE
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endif
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ASFLAGS = $(ARCH_FLAGS) \
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-x assembler-with-cpp \
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$(addprefix -I,$(INCLUDE_DIRS)) \
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-D$(TARGET) \
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-MMD -MP
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LDFLAGS = -lm \
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-nostartfiles \
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--specs=nano.specs \
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-lc \
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$(SYSLIB) \
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$(ARCH_FLAGS) \
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$(LTO_FLAGS) \
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$(DEBUG_FLAGS) \
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$(SEMIHOSTING_LDFLAGS) \
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-static \
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-Wl,-gc-sections,-Map,$(TARGET_MAP) \
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-Wl,-L$(LINKER_DIR) \
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-Wl,--cref \
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-Wl,--no-wchar-size-warning \
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-Wl,--print-memory-usage \
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-T$(LD_SCRIPT)
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BL_LDFLAGS = -lm \
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-nostartfiles \
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--specs=nano.specs \
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-lc \
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$(SYSLIB) \
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$(ARCH_FLAGS) \
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$(LTO_FLAGS) \
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$(DEBUG_FLAGS) \
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$(SEMIHOSTING_LDFLAGS) \
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-static \
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-Wl,-gc-sections,-Map,$(TARGET_BL_MAP) \
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-Wl,-L$(LINKER_DIR) \
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-Wl,--cref \
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-Wl,--no-wchar-size-warning \
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-Wl,--print-memory-usage \
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-T$(BL_LD_SCRIPT)
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###############################################################################
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# No user-serviceable parts below
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###############################################################################
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CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
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--std=c99 --inline-suppr --quiet --force \
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$(addprefix -I,$(INCLUDE_DIRS)) \
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-I/usr/include -I/usr/include/linux
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#
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# Things we will build
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#
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TARGET_BIN := $(BIN_DIR)/$(FORKNAME)_$(FC_VER)
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TARGET_BIN := $(TARGET_BIN)_$(TARGET)
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TARGET_BL_BIN := $(TARGET_BIN)_bl
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ifneq ($(BUILD_SUFFIX),)
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TARGET_BIN := $(TARGET_BIN)_$(BUILD_SUFFIX)
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TARGET_BL_BIN := $(TARGET_BL_BIN)_$(BUILD_SUFFIX)
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endif
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TARGET_BIN := $(TARGET_BIN).bin
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TARGET_BL_BIN := $(TARGET_BL_BIN).bin
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TARGET_HEX = $(TARGET_BIN:.bin=.hex)
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TARGET_BL_HEX = $(TARGET_BL_BIN:.bin=.hex)
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TARGET_COMBINED_HEX = $(basename $(TARGET_HEX))_combined.hex
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TARGET_OBJ_DIR = $(OBJECT_DIR)/$(TARGET)
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TARGET_BL_OBJ_DIR = $(BL_OBJECT_DIR)/$(TARGET)
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TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
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TARGET_BL_ELF = $(BL_OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
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TARGET_OBJS = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(TARGET_SRC))))
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TARGET_BL_OBJS = $(addsuffix .o,$(addprefix $(TARGET_BL_OBJ_DIR)/,$(basename $(TARGET_BL_SRC))))
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TARGET_DEPS = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(TARGET_SRC))))
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TARGET_BL_DEPS = $(addsuffix .d,$(addprefix $(TARGET_BL_OBJ_DIR)/,$(basename $(TARGET_BL_SRC))))
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TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
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TARGET_BL_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_bl.map
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CLEAN_ARTIFACTS := $(TARGET_BIN)
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CLEAN_ARTIFACTS += $(TARGET_HEX)
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CLEAN_ARTIFACTS += $(TARGET_ELF)
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CLEAN_ARTIFACTS += $(TARGET_OBJS) $(TARGET_MAP)
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CLEAN_ARTIFACTS += $(TARGET_BL_BIN) $(TARGET_BL_HEX) $(TARGET_BL_ELF) $(TARGET_BL_OBJS) $(TARGET_BL_MAP)
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include $(ROOT)/make/stamp.mk
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include $(ROOT)/make/settings.mk
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include $(ROOT)/make/svd.mk
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# Make sure build date and revision is updated on every incremental build
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$(TARGET_OBJ_DIR)/build/version.o $(TARGET_BL_OBJ_DIR)/build/version.o: $(TARGET_SRC)
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# CFLAGS used for ASM generation. These can't include the LTO related options
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# since they prevent proper ASM generation. Since $(LTO_FLAGS) includes the
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# optization level, we have to add it back. -g is required to make interleaved
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# source/ASM work.
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ASM_CFLAGS=-g $(OPTIMZE) $(filter-out $(LTO_FLAGS) -save-temps=obj, $(CFLAGS))
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# List of buildable ELF files and their object dependencies.
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# It would be nice to compute these lists, but that seems to be just beyond make.
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$(TARGET_HEX): $(TARGET_ELF)
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$(V0) $(OBJCOPY) -O ihex --set-start $(FLASH_ORIGIN) $< $@
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$(TARGET_BIN): $(TARGET_ELF)
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$(V0) $(OBJCOPY) -O binary $< $@
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$(TARGET_ELF): $(TARGET_OBJS)
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$(V1) echo Linking $(TARGET)
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$(V1) $(CROSS_CC) -o $@ $(filter %.o, $^) $(LDFLAGS)
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$(V0) $(SIZE) $(TARGET_ELF)
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$(TARGET_BL_HEX): $(TARGET_BL_ELF)
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$(V0) $(OBJCOPY) -O ihex --set-start $(FLASH_ORIGIN) $< $@
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$(TARGET_BL_BIN): $(TARGET_BL_ELF)
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$(V0) $(OBJCOPY) -O binary $< $@
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$(TARGET_BL_ELF): $(TARGET_BL_OBJS)
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$(V1) echo Linking $(TARGET) bl
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$(V1) $(CROSS_CC) -o $@ $(filter %.o, $^) $(BL_LDFLAGS)
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$(V0) $(SIZE) $(TARGET_BL_ELF)
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OPTIMIZE_FLAG_SPEED := "-Os"
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OPTIMIZE_FLAG_SIZE := "-Os"
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OPTIMIZE_FLAG_NORMAL := "-Os"
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ifneq ($(TARGET_MCU_GROUP), STM32F3)
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OPTIMIZE_FLAG_SPEED := "-Ofast"
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OPTIMIZE_FLAG_SIZE := "-Os"
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OPTIMIZE_FLAG_NORMAL := "-O2"
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endif
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define compile_file
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echo "%% $(1) $(2) $<" "$(STDOUT)" && \
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$(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
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endef
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define compile_bl_file
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echo "%% $(1) $(2) $<" "$(STDOUT)" && \
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$(CROSS_CC) -c -o $@ $(CFLAGS) $(BL_CFLAGS) $(2) $<
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endef
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# Compile
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$(TARGET_OBJ_DIR)/%.o: %.c
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$(V1) mkdir -p $(dir $@)
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$(V1) $(if $(findstring $<,$(SIZE_OPTIMISED_SRC)), \
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$(call compile_file,(size),$(OPTIMIZE_FLAG_SIZE)) \
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, \
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$(if $(findstring $<,$(SPEED_OPTIMISED_SRC)), \
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$(call compile_file,(speed),$(OPTIMIZE_FLAG_SPEED)) \
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, \
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$(call compile_file,(normal),$(OPTIMIZE_FLAG_NORMAL)) \
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) \
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)
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ifeq ($(GENERATE_ASM), 1)
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$(V1) $(CROSS_CC) -S -fverbose-asm -Wa,-aslh -o $(patsubst %.o,%.txt.S,$@) -g $(ASM_CFLAGS) $<
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endif
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$(TARGET_BL_OBJ_DIR)/%.o: %.c
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$(V1) mkdir -p $(dir $@)
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$(V1) $(if $(findstring $<,$(SIZE_OPTIMISED_SRC)), \
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$(call compile_bl_file,(size),$(OPTIMIZE_FLAG_SIZE)) \
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, \
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$(if $(findstring $<,$(SPEED_OPTIMISED_SRC)), \
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$(call compile_bl_file,(speed),$(OPTIMIZE_FLAG_SPEED)) \
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, \
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$(call compile_bl_file,(normal),$(OPTIMIZE_FLAG_NORMAL)) \
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) \
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)
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ifeq ($(GENERATE_ASM), 1)
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$(V1) $(CROSS_CC) -S -fverbose-asm -Wa,-aslh -o $(patsubst %.o,%.txt.S,$@) -g $(ASM_CFLAGS) $(BL_CFLAGS) $<
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endif
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# Assemble
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$(TARGET_OBJ_DIR)/%.o $(TARGET_BL_OBJ_DIR)/%.o: %.s
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$(V1) mkdir -p $(dir $@)
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$(V1) echo %% $(notdir $<) "$(STDOUT)"
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$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
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$(TARGET_OBJ_DIR)/%.o $(TARGET_BL_OBJ_DIR)/%.o: %.S
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$(V1) mkdir -p $(dir $@)
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$(V1) echo %% $(notdir $<) "$(STDOUT)"
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$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
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# mkdirs
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$(DL_DIR):
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mkdir -p $@
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$(TOOLS_DIR):
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mkdir -p $@
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## all : Build all valid targets
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all: $(VALID_TARGETS)
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## targets-group-rest: build targets specified in release-targets list
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release: $(RELEASE_TARGETS)
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$(VALID_TARGETS):
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$(V0) echo "" && \
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echo "Building $@" && \
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CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$@ && \
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echo "Building $@ succeeded."
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$(VALID_BL_TARGETS):
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$(V0) echo "" && \
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echo "Building $@" && \
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CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$(@:%_bl=%) bl_binary bl_hex && \
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echo "Building $(@:%_bl=%) bl succeeded."
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$(VALID_TARGETS_FOR_BL):
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$(V0) echo "" && \
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echo "Building $@" && \
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CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$(@:%_for_bl=%) FOR_BL=1 binary hex && \
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echo "Building $(@:%_for_bl=%) for bl succeeded."
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$(VALID_TARGETS_WITH_BL):
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$(V0) echo "" && \
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echo "Building $@ with bl" && \
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CFLAGS=$(SAVED_CFLAGS) $(MAKE) TARGET=$(@:%_with_bl=%) combined_hex && \
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echo "Building $(@:%_with_bl=%) with bl succeeded."
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combined_hex:
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$(V1) echo "Building combined BL+MAIN hex" && \
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CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$(TARGET) bl_binary && \
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CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$(TARGET) binary FOR_BL=1 && \
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echo "Combining MAIN+BL in $(TARGET_COMBINED_HEX)" && \
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$(COMBINE_TOOL) $(TARGET_BL_BIN) $(TARGET_BIN) $(TARGET_COMBINED_HEX)
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## clean : clean up all temporary / machine-generated files
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clean:
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$(V0) echo "Cleaning $(TARGET)"
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$(V0) rm -f $(CLEAN_ARTIFACTS)
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$(V0) rm -rf $(TARGET_OBJ_DIR)
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$(V0) echo "Cleaning $(TARGET) succeeded."
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## clean_test : clean up all temporary / machine-generated files (tests)
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clean_test:
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$(V0) $(RM) -r src/test/build
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## clean_<TARGET> : clean up one specific target
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$(CLEAN_TARGETS) :
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$(V0) $(MAKE) -j 8 TARGET=$(subst clean_,,$@) clean
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## <TARGET>_clean : clean up one specific target (alias for above)
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$(TARGETS_CLEAN) :
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$(V0) $(MAKE) -j 8 TARGET=$(subst _clean,,$@) clean
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## clean_all : clean all valid targets
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clean_all:$(CLEAN_TARGETS)
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|
|
|
## all_clean : clean all valid targets (alias for above)
|
|
all_clean:$(TARGETS_CLEAN)
|
|
|
|
flash_$(TARGET): $(TARGET_HEX)
|
|
$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
|
|
$(V0) echo -n 'R' >$(SERIAL_DEVICE)
|
|
$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
|
|
|
|
## flash : flash firmware (.hex) onto flight controller
|
|
flash: flash_$(TARGET)
|
|
|
|
$(STFLASH_TARGETS) :
|
|
$(V0) $(MAKE) -j 8 TARGET=$(subst st-flash_,,$@) st-flash
|
|
|
|
## st-flash : flash firmware (.bin) onto flight controller
|
|
st-flash: $(TARGET_BIN)
|
|
$(V0) st-flash --reset write $< $(FLASH_ORIGIN)
|
|
|
|
elf: $(TARGET_ELF)
|
|
binary: $(TARGET_BIN)
|
|
hex: $(TARGET_HEX)
|
|
bl_elf: $(TARGET_BL_ELF)
|
|
bl_binary: $(TARGET_BL_BIN)
|
|
bl_hex: $(TARGET_BL_HEX)
|
|
|
|
unbrick_$(TARGET): $(TARGET_HEX)
|
|
$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
|
|
$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
|
|
|
|
## unbrick : unbrick flight controller
|
|
unbrick: unbrick_$(TARGET)
|
|
|
|
## cppcheck : run static analysis on C source code
|
|
cppcheck: $(CSOURCES)
|
|
$(V0) $(CPPCHECK)
|
|
|
|
cppcheck-result.xml: $(CSOURCES)
|
|
$(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
|
|
|
|
## help : print this help message and exit
|
|
help: Makefile
|
|
$(V0) @echo ""
|
|
$(V0) @echo "Makefile for the $(FORKNAME) firmware"
|
|
$(V0) @echo ""
|
|
$(V0) @echo "Usage:"
|
|
$(V0) @echo " make [TARGET=<target>] [OPTIONS=\"<options>\"]"
|
|
$(V0) @echo "Or:"
|
|
$(V0) @echo " make <target> [OPTIONS=\"<options>\"]"
|
|
$(V0) @echo ""
|
|
$(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
|
|
$(V0) @echo ""
|
|
$(V0) @sed -n 's/^## //p' $<
|
|
|
|
## test : run the cleanflight test suite
|
|
test:
|
|
$(V0) mkdir -p src/test/build && cd src/test/build && cmake .. && $(MAKE) check
|
|
|
|
# rebuild everything when makefile changes
|
|
# Make the generated files and the build stamp order only prerequisites,
|
|
# so they will be generated before TARGET_OBJS but regenerating them
|
|
# won't cause all TARGET_OBJS to be rebuilt.
|
|
$(TARGET_OBJS) : Makefile | $(GENERATED_FILES) $(STAMP)
|
|
|
|
# include auto-generated dependencies
|
|
-include $(TARGET_DEPS)
|
|
|
|
# Developer tools
|
|
include $(ROOT)/make/openocd.mk
|
|
include $(ROOT)/make/gdb.mk
|