274 lines
11 KiB
Makefile
274 lines
11 KiB
Makefile
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########################################################################
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#
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# Support for Robotis OpenCR boards
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#
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# Written by Dowhan Jeong, EunJin Jeong
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#
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# Based on work that is copyright Jeremy Shaw, Sudar, Nicholas Zambetti,
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# David A. Mellis & Hernando Barragan.
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#
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# This file is free software; you can redistribute it and/or modify it
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# under the terms of the GNU Lesser General Public License as
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# published by the Free Software Foundation; either version 2.1 of the
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# License, or (at your option) any later version.
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#
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########################################################################
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ifndef ARDUINO_DIR
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echo $(error ARDUINO_DIR should be specified)
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endif
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ifndef BOARD_TAG
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echo $(error BOARD_TAG should be specified. check board list with 'make show_boards')
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endif
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ifndef ARDMK_DIR
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ARDMK_DIR := $(realpath $(dir $(realpath $(lastword $(MAKEFILE_LIST)))))
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endif
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include $(ARDMK_DIR)/Common.mk
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ifndef ARDUINO_PACKAGE_DIR
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# attempt to find based on Linux, macOS and Windows default
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ARDUINO_PACKAGE_DIR := $(firstword \
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$(call dir_if_exists,$(HOME)/.arduino15/packages) \
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$(call dir_if_exists,$(ARDUINO_DIR)/packages) \
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$(call dir_if_exists,$(HOME)/Library/Arduino15/packages) \
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$(call dir_if_exists,$(realpath $(USERPROFILE))/AppData/Local/Arduino15/packages) )
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$(call show_config_variable,ARDUINO_PACKAGE_DIR,[AUTODETECTED],(from DEFAULT))
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else
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$(call show_config_variable,ARDUINO_PACKAGE_DIR,[USER])
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endif
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ifndef ARDMK_VENDOR
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ARDMK_VENDOR = OpenCR
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endif
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ifndef ARCHITECTURE
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ARCHITECTURE := OpenCR
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endif
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ifndef CORE_VER
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CORE_VER := $(wildcard $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/hardware/$(ARCHITECTURE)/1.*)
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ifneq ($(CORE_VER),)
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CORE_VER := $(shell basename $(CORE_VER))
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$(call show_config_variable,CORE_VER,[AUTODETECTED],(from ARDUINO_PACKAGE_DIR))
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endif
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else
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$(call show_config_variable,CORE_VER,[USER])
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endif
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ARCHITECTURE := sam
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arduino_output =
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# When output is not suppressed and we're in the top-level makefile,
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# running for the first time (i.e., not after a restart after
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# regenerating the dependency file), then output the configuration.
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ifndef ARDUINO_QUIET
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ifeq ($(MAKE_RESTARTS),)
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ifeq ($(MAKELEVEL),0)
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arduino_output = $(info $(1))
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endif
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endif
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endif
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# Arduino Settings (will get shown in Arduino.mk as computed)
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ifndef ALTERNATE_CORE_PATH
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ifdef CORE_VER
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ALTERNATE_CORE_PATH = $(ARDUINO_PACKAGE_DIR)/OpenCR/hardware/OpenCR/$(CORE_VER)
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else
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echo $(error Cannot find $(CORE_VER). Check directory settings.)
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endif
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endif
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ifndef ARDUINO_CORE_PATH
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ARDUINO_CORE_PATH= $(ALTERNATE_CORE_PATH)/cores/arduino
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endif
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ifndef BOARDS_TXT
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BOARDS_TXT= $(ALTERNATE_CORE_PATH)/boards.txt
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endif
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ifndef VARIANT
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VARIANT := $(call PARSE_BOARD,$(BOARD_TAG),build.variant)
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endif
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ARDUINO_VAR_PATH = $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)
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# Check boards file exists before continuing as parsing non-existant file can create problems
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ifneq ($(findstring boards.txt, $(wildcard $(ALTERNATE_CORE_PATH)/*.txt)), boards.txt)
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echo $(error $(CORE_VER) Cannot find boards file $(BOARDS_TXT). Check ?? and board support installed)
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endif
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# grab any sources in the variant core path.
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# directorys were manually checked.
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# Core sources(used to generate libcore.a archive)
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OPENCR_CORE_C_SRCS_1 := $(wildcard $(ARDUINO_CORE_PATH)/avr/*.c)
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OPENCR_CORE_C_SRCS_2 := $(wildcard $(ARDUINO_CORE_PATH)/*.c)
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OPENCR_CORE_CPP_SRCS := $(wildcard $(ARDUINO_CORE_PATH)/*.cpp)
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# library sources
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OPENCR_LIB_C_SRCS_1 := $(wildcard $(ARDUINO_VAR_PATH)/bsp/opencr/*.c)
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OPENCR_LIB_C_SRCS_2 := $(wildcard $(ARDUINO_VAR_PATH)/hw/*.c)
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OPENCR_LIB_C_SRCS_3 := $(wildcard $(ARDUINO_VAR_PATH)/hw/driver/*.c)
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OPENCR_LIB_C_SRCS_4 := $(wildcard $(ARDUINO_VAR_PATH)/hw/usb_cdc/*.c)
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OPENCR_LIB_C_SRCS_5 := $(wildcard $(ARDUINO_VAR_PATH)/lib/STM32F7xx_HAL_Driver/Src/*.c)
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OPENCR_LIB_CPP_SRCS := $(wildcard $(ARDUINO_VAR_PATH)/*.cpp)
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OPENCR_LIB_S_SRCS := $(wildcard $(ARDUINO_VAR_PATH)/bsp/opencr/startup/*.S)
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ifndef F_CPU
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F_CPU := $(call PARSE_BOARD,$(BOARD_TAG),build.f_cpu)
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endif
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OPENCR_LIB_OBJ_FILES = $(notdir $(OPENCR_LIB_C_SRCS_1:.c=.c.o)) $(notdir $(OPENCR_LIB_C_SRCS_2:.c=.c.o)) $(notdir $(OPENCR_LIB_C_SRCS_3:.c=.c.o)) $(notdir $(OPENCR_LIB_C_SRCS_4:.c=.c.o)) $(notdir $(OPENCR_LIB_C_SRCS_5:.c=.c.o)) $(notdir $(OPENCR_LIB_CPP_SRCS:.cpp=.cpp.o)) $(notdir $(OPENCR_LIB_S_SRCS:.S=.S.o))
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OTHER_OBJS = $(patsubst %, \
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$(OBJDIR)/OpenCRlib/%, $(OPENCR_LIB_OBJ_FILES))
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OPENCR_CORE_OBJ_FILES = $(notdir $(OPENCR_CORE_C_SRCS_1:.c=.c.o)) $(notdir $(OPENCR_CORE_C_SRCS_2:.c=.c.o)) $(notdir $(OPENCR_CORE_CPP_SRCS:.cpp=.cpp.o))
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# override is used since opencr dosen't need other sam core objects
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override CORE_OBJS = $(patsubst %, \
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$(OBJDIR)/core/%, $(OPENCR_CORE_OBJ_FILES))
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ifndef AVR_TOOLS_DIR
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AVR_TOOLS_DIR = $(call dir_if_exists,$(ARDUINO_PACKAGE_DIR)/OpenCR/tools/opencr_gcc/5.4.0-2016q2)
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endif
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ifeq ($(strip $(AVR_TOOLS_DIR)),)
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echo $(error $(AVR_TOOLS_DIR) Cannot find AVR_TOOLS_DIR. Check AVR_TOOLS_DIR)
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endif
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# Robotis OpenCR platform library directory
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ifndef ARDUINO_PLATFORM_LIB_PATH
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ARDUINO_PLATFORM_LIB_PATH = $(ALTERNATE_CORE_PATH)/libraries
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$(call show_config_variable,ARDUINO_PLATFORM_LIB_PATH,[COMPUTED],(from OPENCR_DIR))
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endif
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########################################################################
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# command names
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TOOL_PREFIX = arm-none-eabi
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# processor stuff
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ifndef MCU
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MCU := $(call PARSE_BOARD,$(BOARD_TAG),build.mcu)
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endif
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ifndef MCU_FLAG_NAME
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MCU_FLAG_NAME=mcpu
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endif
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########################################################################
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# FLAGS
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ifndef USB_TYPE
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USB_TYPE = USB_SERIAL
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endif
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# from platform.txt
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CPPFLAGS += -DARDUINO_OpenCR
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CPPFLAGS += -DARDUINO_ARCH_OPENCR
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CPPFLAGS += $(call PARSE_BOARD,$(BOARD_TAG),build.common_flags)
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OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc1)
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OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc2)
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OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc3)
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OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc4)
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OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc5)
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OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc6)
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OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc7)
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CPPFLAGS += $(OPENCR_COMPILER_LIBS_C_FLAGS)
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CFLAGS_STD += -c -g -O2 -std=gnu11 -mfloat-abi=softfp -mfpu=fpv5-sp-d16 -Wall -Wextra -DDEBUG_LEVEL=DEBUG_ALL -MMD -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -DBOARD_$(VARIANT)
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CXXFLAGS_STD += -c -g -O2 -std=gnu++11 -mfloat-abi=softfp -mfpu=fpv5-sp-d16 -Wall -Wextra -DDEBUG_LEVEL=DEBUG_ALL -MMD -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -DBOARD_$(VARIANT)
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ASFLAGS += -c -g -x assembler-with-cpp -MMD
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LDFLAGS += -lm -lgcc -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-unresolved-symbols -Wl,--start-group -Wl,--whole-archive
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LINKER_SCRIPTS = -T$(ARDUINO_VAR_PATH)/bsp/opencr/ldscript/opencr_flash.ld
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########################################################################
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# Reset is handled by upload script. OpenCR don't neet reset command.
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override RESET_CMD =
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########################################################################
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# Object conversion & uploading magic, modified from Arduino.mk
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override TARGET_HEX = $(OBJDIR)/$(TARGET).bin
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override avr_size = $(SIZE) --target=binary $(2)
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# Define UPLOAD_TOOL as avrdude to use avrdude upload recipe in Arduino.mk
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override UPLOAD_TOOL = avrdude
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ifeq ($(CURRENT_OS), WINDOWS)
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override AVRDUDE = $(ARDUINO_PACKAGE_DIR)/OpenCR/tools/opencr_tools/1.0.0/win/opencr_ld.exe
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else
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override AVRDUDE = $(ARDUINO_PACKAGE_DIR)/OpenCR/tools/opencr_tools/1.0.0/linux/opencr_ld
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endif
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override AVRDUDE_COM_OPTS = $(DEVICE_PATH)
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override AVRDUDE_ISP_OPTS = 115200 $(TARGET_HEX) 1
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override AVRDUDE_ISPLOAD_OPTS =
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########################################################################
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# automatically include Arduino.mk
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include $(ARDMK_DIR)/Arduino.mk
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########################################################################
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# OpenCR core files
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$(OBJDIR)/core/%.c.o: $(ARDUINO_CORE_PATH)/avr/%.c $(COMMON_DEPS) | $(OBJDIR)
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@$(MKDIR) $(dir $@)
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$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
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$(OBJDIR)/core/%.c.o: $(ARDUINO_CORE_PATH)/%.c $(COMMON_DEPS) | $(OBJDIR)
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@$(MKDIR) $(dir $@)
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$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
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$(OBJDIR)/core/%.cpp.o: $(ARDUINO_CORE_PATH)/%.cpp $(COMMON_DEPS) | $(OBJDIR)
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@$(MKDIR) $(dir $@)
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$(CXX) -MMD -c $(CPPFLAGS) $(CXXFLAGS) $< -o $@
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# OpenCR lib files
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$(OBJDIR)/OpenCRlib/%.c.o: $(ARDUINO_VAR_PATH)/bsp/opencr/%.c $(COMMON_DEPS) | $(OBJDIR)
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@$(MKDIR) $(dir $@)
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$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
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$(OBJDIR)/OpenCRlib/%.c.o: $(ARDUINO_VAR_PATH)/hw/%.c $(COMMON_DEPS) | $(OBJDIR)
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@$(MKDIR) $(dir $@)
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$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
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$(OBJDIR)/OpenCRlib/%.c.o: $(ARDUINO_VAR_PATH)/hw/driver/%.c $(COMMON_DEPS) | $(OBJDIR)
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@$(MKDIR) $(dir $@)
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$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
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$(OBJDIR)/OpenCRlib/%.c.o: $(ARDUINO_VAR_PATH)/hw/usb_cdc/%.c $(COMMON_DEPS) | $(OBJDIR)
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@$(MKDIR) $(dir $@)
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$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
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$(OBJDIR)/OpenCRlib/%.c.o: $(ARDUINO_VAR_PATH)/lib/STM32F7xx_HAL_Driver/Src/%.c $(COMMON_DEPS) | $(OBJDIR)
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@$(MKDIR) $(dir $@)
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$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
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$(OBJDIR)/OpenCRlib/%.cpp.o: $(ARDUINO_VAR_PATH)/%.cpp $(COMMON_DEPS) | $(OBJDIR)
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@$(MKDIR) $(dir $@)
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$(CXX) -MMD -c $(CPPFLAGS) $(CXXFLAGS) $< -o $@
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$(OBJDIR)/OpenCRlib/%.S.o: $(ARDUINO_VAR_PATH)/bsp/opencr/startup/%.S $(COMMON_DEPS) | $(OBJDIR)
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@$(MKDIR) $(dir $@)
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$(CC) -MMD -c $(CPPFLAGS) $(ASFLAGS) $< -o $@
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# Object conversion & uploading magic, modified from Arduino.mk
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$(OBJDIR)/%.bin: $(OBJDIR)/%.elf $(COMMON_DEPS)
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@$(MKDIR) $(dir $@)
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$(OBJCOPY) -v -Obinary $< $@
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@$(ECHO) '\n'
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$(call avr_size,$<,$@)
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ifneq ($(strip $(HEX_MAXIMUM_SIZE)),)
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@if [ `$(SIZE) --target=binary $@ | awk 'FNR == 2 {print $$2}'` -le $(HEX_MAXIMUM_SIZE) ]; then touch $@.sizeok; fi
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else
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@$(ECHO) "Maximum flash memory of $(BOARD_TAG) is not specified. Make sure the size of $@ is less then $(BOARD_TAG)\'s flash memory"
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@touch $@.sizeok
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endif
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CORE_LIB += -Wl,--no-whole-archive -lstdc++
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