mirror of https://github.com/rene-dev/stmbl.git
464 lines
13 KiB
Makefile
464 lines
13 KiB
Makefile
# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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#
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OPT = -O1
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# OPT = -O1 # for debugging
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# Object files directory
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# Warning: this will be removed by make clean!
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#
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OBJDIR = obj_app
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# Target file name (without extension)
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TARGET = $(OBJDIR)/stmbl
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# Define all C source files (dependencies are generated automatically)
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INCDIRS += inc
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INCDIRS += inc/comps
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INCDIRS += inc/comps/hw
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INCDIRS += inc/shared_comps
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INCDIRS += shared
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SOURCES += src/main.c
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SOURCES += src/stm32f4xx_it.c
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SOURCES += src/system_stm32f4xx.c #TODO: update this, system file from cmsis
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SOURCES += src/setup.c
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SOURCES += src/usb_cdc.c
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SOURCES += src/config.c
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# SOURCES += src/hal_conf.c
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SOURCES += src/hal_tbl.c
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HWVERSION = v4
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ifeq ($(HWVERSION),v3)
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SRC_COMPS += src/comps/hw/io3.c
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SRC_COMPS += src/comps/hvf1.c
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SHARED_COMPS += shared/comps/pmsm.c
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SHARED_COMPS += shared/comps/curpid.c
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SHARED_COMPS += shared/comps/dq.c
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SHARED_COMPS += shared/comps/idq.c
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SHARED_COMPS += shared/common_f1.c
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CFLAGS += -DV3
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else
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SRC_COMPS += src/comps/hw/io4.c
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SRC_COMPS += src/comps/hv.c
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#TODO: need backport to v3
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SRC_COMPS += src/comps/enc_cmd.c
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SRC_COMPS += src/comps/o_fb.c
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SRC_COMPS += src/comps/sserial.c
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SRC_COMPS += src/comps/yaskawa.c
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SRC_COMPS += src/comps/encs.c
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SRC_COMPS += src/comps/encf.c
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SRC_COMPS += src/comps/endat.c
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CFLAGS += -DV4
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endif
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SRC_COMPS += src/comps/usart.c
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SRC_COMPS += src/comps/encm.c
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SRC_COMPS += src/comps/dmm.c
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SRC_COMPS += src/comps/smartabs.c
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SRC_COMPS += src/comps/adc.c
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SRC_COMPS += src/comps/enc_fb.c
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SRC_COMPS += src/comps/conf.c
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SRC_COMPS += src/comps/res.c
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SRC_COMPS += src/comps/hx711.c
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SHARED_COMPS += shared/comps/sim.c
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SHARED_COMPS += shared/comps/term.c
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SHARED_COMPS += shared/comps/svm.c
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SHARED_COMPS += shared/comps/vel.c
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SHARED_COMPS += shared/comps/rev.c
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SHARED_COMPS += shared/comps/hal_test.c
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# SHARED_COMPS += shared/comps/dc.c
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SHARED_COMPS += shared/comps/ypid.c
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SHARED_COMPS += shared/comps/fault.c
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SHARED_COMPS += shared/comps/pid.c
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SHARED_COMPS += shared/comps/spid.c
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SHARED_COMPS += shared/comps/pe.c
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SHARED_COMPS += shared/comps/pmsm_limits.c
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SHARED_COMPS += shared/comps/pmsm_ttc.c
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SHARED_COMPS += shared/comps/dc_limits.c
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SHARED_COMPS += shared/comps/dc_ttc.c
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SHARED_COMPS += shared/comps/acim_ttc.c
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SHARED_COMPS += shared/comps/uvw.c
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SHARED_COMPS += shared/comps/fanuc.c
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SHARED_COMPS += shared/comps/fb_switch.c
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SHARED_COMPS += shared/comps/reslimit.c
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SHARED_COMPS += shared/comps/iit.c
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SHARED_COMPS += shared/comps/vel_int.c
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SHARED_COMPS += shared/comps/linrev.c
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SHARED_COMPS += shared/comps/psi.c
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SHARED_COMPS += shared/comps/stp.c
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#SHARED_COMPS += shared/comps/uf.c
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SHARED_COMPS += shared/comps/uf2.c
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SHARED_COMPS += shared/comps/ramp.c
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SHARED_COMPS += shared/comps/scale.c
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SHARED_COMPS += shared/comps/idx_home.c
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SHARED_COMPS += shared/comps/move.c
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# SHARED_COMPS += shared/comps/ac.c
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SHARED_COMPS += shared/comps/not.c
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SHARED_COMPS += shared/comps/and.c
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SHARED_COMPS += shared/comps/or.c
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SHARED_COMPS += shared/comps/jog.c
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SHARED_COMPS += shared/comps/velbuf.c
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SHARED_COMPS += shared/comps/avg.c
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SHARED_COMPS += shared/comps/mux.c
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SHARED_COMPS += shared/comps/veltopos.c
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# SHARED_COMPS += shared/comps/wobl.c
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SHARED_COMPS += shared/comps/debounce.c
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SHARED_COMPS += shared/comps/pos_filter.c
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SHARED_COMPS += shared/comps/rl.c
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SHARED_COMPS += shared/comps/mad.c
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SHARED_COMPS += shared/comps/sensorless.c
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SHARED_COMPS += shared/comps/field.c
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SHARED_COMPS += shared/comps/gain.c
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SHARED_COMPS += shared/comps/rlpsij.c
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SHARED_COMPS += shared/comps/veltime.c
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SHARED_COMPS += shared/comps/mpid.c
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SHARED_COMPS += shared/comps/fmove.c
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SHARED_COMPS += shared/comps/home.c
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SHARED_COMPS += shared/comps/en.c
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SHARED_COMPS += shared/comps/th.c
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#SHARED_COMPS += shared/comps/asm.c
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SHARED_COMPS += shared/comps/id.c
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SHARED_COMPS += shared/comps/motsim.c
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COMPS = $(SRC_COMPS) $(SHARED_COMPS)
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SOURCES += $(COMPS)
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# SOURCES += src/eeprom.c
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# SOURCES += src/link.c
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SOURCES += src/version.c
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SOURCES += src/syscalls.c
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SOURCES += shared/crc8.c
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SOURCES += shared/crc.c
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SOURCES += shared/yaskawa_crc16.c
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SOURCES += shared/endat.c
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SOURCES += shared/angle.c
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SOURCES += shared/hal.c
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SOURCES += shared/commands.c
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SOURCES += shared/config.c
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SOURCES += src/conf_templates.c
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SOURCES += shared/ringbuf.c
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CONFIG_TEMPLATES = $(wildcard conf/template/*.txt)
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USB_VCP_DIR = lib/STM32_USB_Device_VCP-1.2.0
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CPPFLAGS += -DUSBD_PRODUCT_STRING='"STMBL Virtual ComPort"'
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CPPFLAGS += -DCDC_IN_FRAME_INTERVAL=1
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CPPFLAGS += -DAPP_RX_DATA_SIZE=4096
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INCDIRS += $(USB_VCP_DIR)/inc
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SOURCES += $(USB_VCP_DIR)/src/usbd_desc.c
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USB_DEVICE_DIR = lib/STM32_USB_Device_Library-1.2.0
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INCDIRS += $(USB_DEVICE_DIR)/Class/cdc/inc
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SOURCES += $(USB_DEVICE_DIR)/Class/cdc/src/usbd_cdc_core.c
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INCDIRS += $(USB_DEVICE_DIR)/Core/inc
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SOURCES += $(USB_DEVICE_DIR)/Core/src/usbd_core.c
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SOURCES += $(USB_DEVICE_DIR)/Core/src/usbd_ioreq.c
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SOURCES += $(USB_DEVICE_DIR)/Core/src/usbd_req.c
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USB_DRIVER_DIR = lib/STM32_USB_OTG_Driver-2.2.0
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INCDIRS += $(USB_DRIVER_DIR)/inc
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SOURCES += $(USB_DRIVER_DIR)/src/usb_core.c
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SOURCES += $(USB_DRIVER_DIR)/src/usb_dcd.c
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SOURCES += $(USB_DRIVER_DIR)/src/usb_dcd_int.c
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# Standard peripheral library
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CPPFLAGS += -DUSE_STDPERIPH_DRIVER
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#CPPFLAGS += -DUSE_FULL_ASSERT
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PERIPH_DRV_DIR = lib/STM32F4xx_StdPeriph_Driver-V1.6.0
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INCDIRS += $(PERIPH_DRV_DIR)/inc
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INCDIRS += lib/CMSIS/Include
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INCDIRS += lib/CMSIS/Device/ST/STM32F4xx/Include
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SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_adc.c
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SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_crc.c
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SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_dma.c
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SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_flash.c
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SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_gpio.c
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SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_pwr.c
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SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_rcc.c
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SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_tim.c
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SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_usart.c
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SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_spi.c
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SOURCES += $(PERIPH_DRV_DIR)/src/misc.c
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SOURCES += lib/CMSIS/Device/ST/STM32F4xx/Source/startup_stm32f40_41xxx.s
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CPPFLAGS += -DSTM32F40_41xxx
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CPPFLAGS += -DHSE_VALUE=8000000
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LDSCRIPT = stm32_flash.ld
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#============================================================================
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SRC_COMP_OBJECTS = $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SRC_COMPS))))
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SHARED_COMP_OBJECTS = $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SHARED_COMPS))))
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OBJECTS += $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SOURCES))))
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OBJECTS += hv_firmware.o
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CPPFLAGS += $(addprefix -I,$(INCDIRS))
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#---------------- Preprocessor Options ----------------
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# -fsingle... make better use of the single-precision FPU
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# -g generate debugging information
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# -save-temps preserve .s and .i-files
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#
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CPPFLAGS += -fsingle-precision-constant
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CPPFLAGS += -g
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# CPPFLAGS += -save-temps=obj
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#---------------- C Compiler Options ----------------
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# -O* optimization level
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# -f... tuning, see GCC documentation
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# -Wall... warning level
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#
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CFLAGS += $(OPT)
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CFLAGS += -std=gnu11
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CFLAGS += -ffunction-sections
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CFLAGS += -fdata-sections
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CFLAGS += -Wall
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CFLAGS += -Wmaybe-uninitialized
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CFLAGS += -Wuninitialized
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CFLAGS += -fno-builtin ## from old
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CFLAGS += -nostartfiles
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CFLAGS += -Wfatal-errors
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#CFLAGS += -Wstrict-prototypes
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#CFLAGS += -Wextra
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#CFLAGS += -Wpointer-arith
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#CFLAGS += -Winline
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#CFLAGS += -Wunreachable-code
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#CFLAGS += -Wundef
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# Use a friendly C dialect
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CPPFLAGS += -fno-strict-aliasing
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CPPFLAGS += -fwrapv
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#---------------- C++ Compiler Options ----------------
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#
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CXXFLAGS += $(OPT)
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CXXFLAGS += -ffunction-sections
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CXXFLAGS += -fdata-sections
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CXXFLAGS += -Wall
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#---------------- Assembler Options ----------------
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# -Wa,... tell GCC to pass this to the assembler
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#
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#---------------- Linker Options ----------------
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# -Wl,... tell GCC to pass this to linker
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# -Map create map file
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# --cref add cross reference to map file
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#
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LDFLAGS += $(OPT)
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LDFLAGS += -lm
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LDFLAGS += -Wl,-Map=$(TARGET).map,--cref
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LDFLAGS += -Wl,--gc-sections
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# LDFLAGS += -specs=nano.specs -u _printf_float -u _scanf_float
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LDFLAGS += -T$(LDSCRIPT)
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#============================================================================
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POSTLD = $(PYTHON) tools/add_version_info.py # -q
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# Compiler flags to generate dependency files
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#
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GENDEPFLAGS = -MMD -MP
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# Combine all necessary flags and optional flags
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# Add target processor to flags.
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#
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CPU = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
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CFLAGS += $(CPU)
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CXXFLAGS += $(CPU)
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ASFLAGS += $(CPU)
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LDFLAGS += $(CPU)
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ADDRESS = 0x08010000
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# Default target
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#
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all: gccversion tbl boot build showsize
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build: tbl elf hex bin lss sym f3_boot
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elf: $(TARGET).elf
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hex: $(TARGET).hex
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bin: tbl $(TARGET).bin
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lss: $(TARGET).lss
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sym: $(TARGET).sym
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$(OBJDIR)/shared/commands.o: inc/commandslist.h
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inc/commandslist.h: tools/create_cmd.py $(SOURCES)
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@echo Generating commands list
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@$(MKDIR) -p $(dir $@)
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@$(PYTHON) tools/create_cmd.py $@ $(SOURCES)
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src/hal_tbl.c: tools/create_hal_tbl.py $(COMPS)
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@echo Generating HAL table
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@$(MKDIR) -p $(dir $@)
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@$(PYTHON) tools/create_hal_tbl.py $@ $(COMPS)
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$(SRC_COMP_OBJECTS): $(OBJDIR)/src/comps/%.o: inc/comps/%_comp.h
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$(SHARED_COMP_OBJECTS): $(OBJDIR)/shared/comps/%.o: inc/shared_comps/%_comp.h
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inc/comps/%_comp.h: src/comps/%.c
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@echo Generating H: $<
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@$(MKDIR) -p $(dir $@)
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@$(PYTHON) tools/create_comp_h.py $@ $<
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inc/shared_comps/%_comp.h: shared/comps/%.c
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@echo Generating H: $<
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@$(MKDIR) -p $(dir $@)
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@$(PYTHON) tools/create_comp_h.py $@ $<
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src/conf_templates.c: tools/create_config.py $(CONFIG_TEMPLATES)
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@echo Generating config
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@$(MKDIR) -p $(dir $@)
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@$(PYTHON) tools/create_config.py src/conf_templates.c $(CONFIG_TEMPLATES)
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tbl: inc/commandslist.h src/hal_tbl.c src/conf_templates.c
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obj_boot/blboot.bin: force_look
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$(MAKE) -f bootloader/Makefile
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#build f4 bootloader
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boot: obj_boot/blboot.bin
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#flash f4 bootloader using stlink
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boot_flash:
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$(MAKE) -f bootloader/Makefile flash
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#flash f4 bootloader using df-util
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boot_btburn:
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$(MAKE) -f bootloader/Makefile btburn
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#build f3 bootloader
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f3_boot: force_look
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$(MAKE) -f f3_boot/Makefile
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#flash f3 bootloader using stlink
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f3_boot_flash:
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$(MAKE) -f f3_boot/Makefile flash
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#flash f3 bootloader using df-util
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f3_boot_btburn:
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$(MAKE) -f f3_boot/Makefile btburn
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#build f3 firmware
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f3: force_look
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$(MAKE) -f stm32f303/Makefile
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#flash f3 firmware using stlink
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f3_flash:
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$(MAKE) -f stm32f303/Makefile flash
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#flash f3 firmware using df-util
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f3_btburn:
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$(MAKE) -f stm32f303/Makefile btburn
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#generate f3 firmware object from f3 bin
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hv_firmware.o: force_look
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$(MAKE) -f stm32f303/Makefile all
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#build f103 firmware for V3 hardware
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f1: force_look
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$(MAKE) -f stm32f103/Makefile
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#flash f103 firmware for V3 hardware using stlink
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f1_flash: boot
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$(MAKE) -f stm32f103/Makefile flash
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f3_all_btburn: f3.bin
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@$(DFU-UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D f3.bin
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all_btburn: tools/bootloader.py f4.bin
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@$(PYTHON) tools/bootloader.py
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@sleep 1
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@$(DFU-UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D f4.bin
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all_flash: f4.bin
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@$(ST-FLASH) --reset write f4.bin 0x08000000
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f3_all_flash: f3.bin
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@$(ST-FLASH) --reset write f3.bin 0x08000000
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deploy: f3_boot f3 boot build binall
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f4.bin: obj_boot/blboot.bin conf/festo.txt $(TARGET).bin
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cat obj_boot/blboot.bin /dev/zero | head -c 32768 > f4.bin
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cat conf/festo.txt /dev/zero | head -c 32768 >> f4.bin
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cat $(TARGET).bin >> f4.bin
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f3.bin: obj_f3_boot/f3_boot.bin obj_hvf3/hvf3.bin
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cat obj_f3_boot/f3_boot.bin /dev/zero | head -c 16384 > f3.bin
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cat obj_hvf3/hvf3.bin >> f3.bin
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# TODO: consolidate these two rules into a wildcard version?
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f4.dfu: tools/dfu-convert.py f4.bin
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$(PYTHON) tools/dfu-convert.py -b 0x08000000:f4.bin f4.dfu
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f3.dfu: tools/dfu-convert.py f3.bin
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$(PYTHON) tools/dfu-convert.py -b 0x08000000:f3.bin f3.dfu
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stmbl.dfu: tools/dfu-convert.py $(TARGET).bin
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$(PYTHON) tools/dfu-convert.py -b 0x08010000:$(TARGET).bin stmbl.dfu
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binall: f4.dfu f3.dfu stmbl.dfu
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format:
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find src/ f3_boot/ bootloader/ stm32f103/ stm32f303/ shared/ inc/ tools/ -iname '*.h' -o -iname '*.c' | xargs clang-format -i
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# Target: clean project
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#
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clean:
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@echo Cleaning project:
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rm -rf hv_firmware.o
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rm -rf f3.bin f4.bin f3.dfu f4.dfu stmbl.dfu
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rm -rf $(OBJDIR)
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rm -rf inc/commandslist.h
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rm -rf inc/comps/*
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rm -rf inc/shared_comps/*
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rm -rf src/conf_templates.c
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rm -rf src/hal_tbl.c
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@$(MAKE) -f bootloader/Makefile clean
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@$(MAKE) -f f3_boot/Makefile clean
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@$(MAKE) -f stm32f103/Makefile clean
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@$(MAKE) -f stm32f303/Makefile clean
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# Include the base rules
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#
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include base.mak
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# Include the dependency files
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#
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-include $(OBJECTS:.o=.d)
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force_look:
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@true
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|
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# Listing of phony targets
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|
#
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|
.PHONY: all build clean \
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|
elf hex bin lss sym tbl \
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boot boot_flash boot_brburn \
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|
f3_boot f3_boot_flash f3_boot_btburn \
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|
f3 f3_flash f3_btburn \
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|
f1 f1_flash \
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|
f3_all_btburn all_btburn all_flash f3_all_flash \
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|
deploy \
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|
format \
|
|
force_look
|