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Rev | Author | Line No. | Line |
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1 | ingob | 1 | #-------------------------------------------------------------------- |
2 | # MCU name |
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886 | killagreg | 3 | #MCU = atmega644 |
4 | MCU = atmega644p |
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1 | ingob | 5 | F_CPU = 20000000 |
903 | pangu | 6 | # |
1 | ingob | 7 | #------------------------------------------------------------------- |
903 | pangu | 8 | # comment out for Quadro, uncomment for Hexakopter |
9 | HEXAKOPTER = _HEXA |
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10 | #------------------------------------------------------------------- |
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11 | |||
886 | killagreg | 12 | VERSION_MAJOR = 0 |
13 | VERSION_MINOR = 69 |
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882 | hbuss | 14 | VERSION_INDEX = 10 |
297 | holgerb | 15 | |
886 | killagreg | 16 | VERSION_COMPATIBLE = 7 # PC-Kompatibilität |
1 | ingob | 17 | #------------------------------------------------------------------- |
886 | killagreg | 18 | #OPTIONS |
909 | pangu | 19 | # Use one of the extensions for a gps solution |
886 | killagreg | 20 | #EXT = KILLAGREG |
21 | #EXT = NAVICTRL |
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909 | pangu | 22 | EXT = MK3MAG |
916 | pangu | 23 | |
886 | killagreg | 24 | #------------------------------------------------------------------- |
1 | ingob | 25 | |
26 | ifeq ($(MCU), atmega644) |
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27 | FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
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28 | #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
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29 | # -u bei neuen Controllern wieder einspielen |
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903 | pangu | 30 | HEX_NAME = MEGA644$(HEXAKOPTER)_$(EXT) |
595 | hbuss | 31 | endif |
1 | ingob | 32 | |
595 | hbuss | 33 | ifeq ($(MCU), atmega644p) |
34 | FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
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903 | pangu | 35 | HEX_NAME = MEGA644p$(HEXAKOPTER)_$(EXT) |
1 | ingob | 36 | endif |
37 | |||
595 | hbuss | 38 | |
1 | ingob | 39 | ifeq ($(F_CPU), 16000000) |
40 | QUARZ = 16MHZ |
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41 | endif |
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42 | |||
43 | ifeq ($(F_CPU), 20000000) |
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44 | QUARZ = 20MHZ |
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45 | endif |
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46 | |||
47 | |||
48 | # Output format. (can be srec, ihex, binary) |
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49 | FORMAT = ihex |
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50 | |||
51 | # Target file name (without extension). |
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52 | |||
297 | holgerb | 53 | ifeq ($(VERSION_INDEX), 0) |
886 | killagreg | 54 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a |
297 | holgerb | 55 | endif |
56 | ifeq ($(VERSION_INDEX), 1) |
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886 | killagreg | 57 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b |
297 | holgerb | 58 | endif |
59 | ifeq ($(VERSION_INDEX), 2) |
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886 | killagreg | 60 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c |
297 | holgerb | 61 | endif |
62 | ifeq ($(VERSION_INDEX), 3) |
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886 | killagreg | 63 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d |
297 | holgerb | 64 | endif |
65 | ifeq ($(VERSION_INDEX), 4) |
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886 | killagreg | 66 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e |
297 | holgerb | 67 | endif |
68 | ifeq ($(VERSION_INDEX), 5) |
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886 | killagreg | 69 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f |
297 | holgerb | 70 | endif |
469 | hbuss | 71 | ifeq ($(VERSION_INDEX), 6) |
886 | killagreg | 72 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g |
469 | hbuss | 73 | endif |
492 | hbuss | 74 | ifeq ($(VERSION_INDEX), 7) |
886 | killagreg | 75 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h |
469 | hbuss | 76 | endif |
855 | hbuss | 77 | ifeq ($(VERSION_INDEX), 8) |
886 | killagreg | 78 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i |
855 | hbuss | 79 | endif |
80 | ifeq ($(VERSION_INDEX), 9) |
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886 | killagreg | 81 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j |
855 | hbuss | 82 | endif |
882 | hbuss | 83 | ifeq ($(VERSION_INDEX), 10) |
886 | killagreg | 84 | TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k |
882 | hbuss | 85 | endif |
1 | ingob | 86 | |
886 | killagreg | 87 | |
1 | ingob | 88 | # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
89 | # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
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90 | OPT = s |
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91 | |||
92 | ########################################################################################################## |
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93 | # List C source files here. (C dependencies are automatically generated.) |
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886 | killagreg | 94 | SRC = main.c uart.c printf_P.c timer0.c timer2.c analog.c menu.c led.c |
95 | SRC += twimaster.c rc.c fc.c eeprom.c fifo.c |
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96 | ifeq ($(MCU), atmega644p) |
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97 | SRC += uart1.c |
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98 | endif |
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99 | ifeq ($(EXT), KILLAGREG) |
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100 | SRC += mm3.c mymath.c gps.c ubx.c |
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101 | endif |
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909 | pangu | 102 | ifeq ($(EXT), MK3MAG) |
103 | SRC += mk3mag.c mymath.c gps.c ubx.c |
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104 | endif |
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886 | killagreg | 105 | ifeq ($(EXT), NAVICTRL) |
106 | SRC += spi.c |
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107 | endif |
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1 | ingob | 108 | ########################################################################################################## |
109 | |||
110 | |||
111 | # List Assembler source files here. |
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112 | # Make them always end in a capital .S. Files ending in a lowercase .s |
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113 | # will not be considered source files but generated files (assembler |
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114 | # output from the compiler), and will be deleted upon "make clean"! |
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115 | # Even though the DOS/Win* filesystem matches both .s and .S the same, |
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116 | # it will preserve the spelling of the filenames, and gcc itself does |
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117 | # care about how the name is spelled on its command-line. |
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118 | ASRC = |
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119 | |||
120 | |||
121 | |||
122 | # List any extra directories to look for include files here. |
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123 | # Each directory must be seperated by a space. |
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124 | EXTRAINCDIRS = |
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125 | |||
126 | |||
127 | # Optional compiler flags. |
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128 | # -g: generate debugging information (for GDB, or for COFF conversion) |
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129 | # -O*: optimization level |
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130 | # -f...: tuning, see gcc manual and avr-libc documentation |
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131 | # -Wall...: warning level |
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132 | # -Wa,...: tell GCC to pass this to the assembler. |
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133 | # -ahlms: create assembler listing |
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134 | CFLAGS = -O$(OPT) \ |
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135 | -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
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136 | -Wall -Wstrict-prototypes \ |
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137 | -Wa,-adhlns=$(<:.c=.lst) \ |
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138 | $(patsubst %,-I%,$(EXTRAINCDIRS)) |
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139 | |||
140 | |||
141 | # Set a "language standard" compiler flag. |
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142 | # Unremark just one line below to set the language standard to use. |
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143 | # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
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144 | #CFLAGS += -std=c89 |
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145 | #CFLAGS += -std=gnu89 |
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146 | #CFLAGS += -std=c99 |
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147 | CFLAGS += -std=gnu99 |
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148 | |||
886 | killagreg | 149 | CFLAGS += -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_COMPATIBLE=$(VERSION_COMPATIBLE) -DVERSION_INDEX=$(VERSION_INDEX) |
1 | ingob | 150 | |
886 | killagreg | 151 | ifeq ($(EXT), KILLAGREG) |
152 | CFLAGS += -DUSE_KILLAGREG |
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153 | endif |
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909 | pangu | 154 | ifeq ($(EXT), MK3MAG) |
155 | CFLAGS += -DUSE_MK3MAG |
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156 | endif |
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886 | killagreg | 157 | ifeq ($(EXT), NAVICTRL) |
158 | CFLAGS += -DUSE_NAVICTRL |
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159 | endif |
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1 | ingob | 160 | |
903 | pangu | 161 | ifeq ($(HEXAKOPTER), _HEXA) |
162 | CFLAGS += -DHEXAKOPTER |
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163 | endif |
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886 | killagreg | 164 | |
165 | |||
1 | ingob | 166 | # Optional assembler flags. |
167 | # -Wa,...: tell GCC to pass this to the assembler. |
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168 | # -ahlms: create listing |
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169 | # -gstabs: have the assembler create line number information; note that |
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170 | # for use in COFF files, additional information about filenames |
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171 | # and function names needs to be present in the assembler source |
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172 | # files -- see avr-libc docs [FIXME: not yet described there] |
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173 | ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
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174 | |||
175 | |||
176 | |||
177 | # Optional linker flags. |
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178 | # -Wl,...: tell GCC to pass this to linker. |
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179 | # -Map: create map file |
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180 | # --cref: add cross reference to map file |
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181 | LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
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182 | |||
183 | # Additional libraries |
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184 | |||
185 | # Minimalistic printf version |
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186 | #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
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187 | |||
188 | # Floating point printf version (requires -lm below) |
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189 | #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
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190 | |||
191 | # -lm = math library |
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192 | LDFLAGS += -lm |
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193 | |||
194 | |||
195 | ##LDFLAGS += -T./linkerfile/avr5.x |
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196 | |||
197 | |||
198 | |||
199 | # Programming support using avrdude. Settings and variables. |
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200 | |||
201 | # Programming hardware: alf avr910 avrisp bascom bsd |
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202 | # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
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203 | # |
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204 | # Type: avrdude -c ? |
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205 | # to get a full listing. |
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206 | # |
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595 | hbuss | 207 | #AVRDUDE_PROGRAMMER = dt006 |
1 | ingob | 208 | #AVRDUDE_PROGRAMMER = stk200 |
209 | #AVRDUDE_PROGRAMMER = ponyser |
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595 | hbuss | 210 | AVRDUDE_PROGRAMMER = avrispv2 |
1 | ingob | 211 | #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
212 | |||
595 | hbuss | 213 | #AVRDUDE_PORT = com1 # programmer connected to serial device |
214 | #AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
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215 | AVRDUDE_PORT = usb # programmer connected to USB |
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1 | ingob | 216 | |
217 | #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
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218 | AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
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219 | #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
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220 | |||
595 | hbuss | 221 | #avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
1 | ingob | 222 | AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
223 | |||
224 | # Uncomment the following if you want avrdude's erase cycle counter. |
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225 | # Note that this counter needs to be initialized first using -Yn, |
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226 | # see avrdude manual. |
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227 | #AVRDUDE_ERASE += -y |
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228 | |||
229 | # Uncomment the following if you do /not/ wish a verification to be |
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230 | # performed after programming the device. |
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231 | AVRDUDE_FLAGS += -V |
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232 | |||
233 | # Increase verbosity level. Please use this when submitting bug |
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234 | # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
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235 | # to submit bug reports. |
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236 | #AVRDUDE_FLAGS += -v -v |
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237 | |||
238 | # --------------------------------------------------------------------------- |
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239 | # Define directories, if needed. |
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240 | DIRAVR = c:/winavr |
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241 | DIRAVRBIN = $(DIRAVR)/bin |
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242 | DIRAVRUTILS = $(DIRAVR)/utils/bin |
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243 | DIRINC = . |
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244 | DIRLIB = $(DIRAVR)/avr/lib |
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245 | |||
246 | |||
247 | # Define programs and commands. |
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248 | SHELL = sh |
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249 | |||
250 | CC = avr-gcc |
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251 | |||
252 | OBJCOPY = avr-objcopy |
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253 | OBJDUMP = avr-objdump |
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254 | SIZE = avr-size |
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255 | |||
256 | # Programming support using avrdude. |
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257 | AVRDUDE = avrdude |
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258 | |||
259 | REMOVE = rm -f |
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260 | COPY = cp |
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261 | |||
262 | HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
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263 | ELFSIZE = $(SIZE) -A $(TARGET).elf |
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264 | |||
265 | # Define Messages |
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266 | # English |
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267 | MSG_ERRORS_NONE = Errors: none |
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268 | MSG_BEGIN = -------- begin -------- |
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269 | MSG_END = -------- end -------- |
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270 | MSG_SIZE_BEFORE = Size before: |
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271 | MSG_SIZE_AFTER = Size after: |
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272 | MSG_COFF = Converting to AVR COFF: |
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273 | MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
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274 | MSG_FLASH = Creating load file for Flash: |
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275 | MSG_EEPROM = Creating load file for EEPROM: |
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276 | MSG_EXTENDED_LISTING = Creating Extended Listing: |
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277 | MSG_SYMBOL_TABLE = Creating Symbol Table: |
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278 | MSG_LINKING = Linking: |
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279 | MSG_COMPILING = Compiling: |
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280 | MSG_ASSEMBLING = Assembling: |
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281 | MSG_CLEANING = Cleaning project: |
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282 | |||
283 | |||
284 | # Define all object files. |
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285 | OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
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286 | |||
287 | # Define all listing files. |
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288 | LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
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289 | |||
290 | # Combine all necessary flags and optional flags. |
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291 | # Add target processor to flags. |
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292 | #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
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293 | ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
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294 | ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
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295 | |||
296 | |||
297 | # Default target. |
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298 | all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
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299 | $(TARGET).lss $(TARGET).sym sizeafter finished end |
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300 | |||
301 | |||
302 | # Eye candy. |
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303 | # AVR Studio 3.x does not check make's exit code but relies on |
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304 | # the following magic strings to be generated by the compile job. |
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305 | begin: |
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306 | @echo |
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307 | @echo $(MSG_BEGIN) |
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308 | |||
309 | finished: |
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310 | @echo $(MSG_ERRORS_NONE) |
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311 | |||
312 | end: |
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313 | @echo $(MSG_END) |
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314 | @echo |
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315 | |||
316 | |||
317 | # Display size of file. |
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318 | sizebefore: |
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319 | @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
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320 | |||
321 | sizeafter: |
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322 | @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
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323 | |||
324 | |||
325 | |||
326 | # Display compiler version information. |
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327 | gccversion : |
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328 | @$(CC) --version |
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329 | |||
330 | |||
331 | # Convert ELF to COFF for use in debugging / simulating in |
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332 | # AVR Studio or VMLAB. |
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333 | COFFCONVERT=$(OBJCOPY) --debugging \ |
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334 | --change-section-address .data-0x800000 \ |
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335 | --change-section-address .bss-0x800000 \ |
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336 | --change-section-address .noinit-0x800000 \ |
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337 | --change-section-address .eeprom-0x810000 |
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338 | |||
339 | |||
340 | coff: $(TARGET).elf |
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341 | @echo |
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342 | @echo $(MSG_COFF) $(TARGET).cof |
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343 | $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
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344 | |||
345 | |||
346 | extcoff: $(TARGET).elf |
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347 | @echo |
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348 | @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
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349 | $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
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350 | |||
351 | |||
352 | |||
353 | |||
354 | # Program the device. |
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355 | program: $(TARGET).hex $(TARGET).eep |
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356 | $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
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357 | |||
358 | |||
359 | |||
360 | |||
361 | # Create final output files (.hex, .eep) from ELF output file. |
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362 | %.hex: %.elf |
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363 | @echo |
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364 | @echo $(MSG_FLASH) $@ |
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365 | $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
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366 | |||
367 | %.eep: %.elf |
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368 | @echo |
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369 | @echo $(MSG_EEPROM) $@ |
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370 | -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
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371 | --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
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372 | |||
373 | # Create extended listing file from ELF output file. |
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374 | %.lss: %.elf |
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375 | @echo |
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376 | @echo $(MSG_EXTENDED_LISTING) $@ |
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377 | $(OBJDUMP) -h -S $< > $@ |
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378 | |||
379 | # Create a symbol table from ELF output file. |
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380 | %.sym: %.elf |
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381 | @echo |
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382 | @echo $(MSG_SYMBOL_TABLE) $@ |
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383 | avr-nm -n $< > $@ |
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384 | |||
385 | |||
386 | |||
387 | # Link: create ELF output file from object files. |
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388 | .SECONDARY : $(TARGET).elf |
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389 | .PRECIOUS : $(OBJ) |
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390 | %.elf: $(OBJ) |
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391 | @echo |
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392 | @echo $(MSG_LINKING) $@ |
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393 | $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
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394 | |||
395 | |||
396 | # Compile: create object files from C source files. |
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397 | %.o : %.c |
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398 | @echo |
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399 | @echo $(MSG_COMPILING) $< |
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400 | $(CC) -c $(ALL_CFLAGS) $< -o $@ |
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401 | |||
402 | |||
403 | # Compile: create assembler files from C source files. |
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404 | %.s : %.c |
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405 | $(CC) -S $(ALL_CFLAGS) $< -o $@ |
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406 | |||
407 | |||
408 | # Assemble: create object files from assembler source files. |
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409 | %.o : %.S |
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410 | @echo |
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411 | @echo $(MSG_ASSEMBLING) $< |
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412 | $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
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413 | |||
414 | |||
415 | |||
416 | |||
417 | |||
418 | |||
419 | # Target: clean project. |
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420 | clean: begin clean_list finished end |
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421 | |||
422 | clean_list : |
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423 | @echo |
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424 | @echo $(MSG_CLEANING) |
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425 | # $(REMOVE) $(TARGET).hex |
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426 | $(REMOVE) $(TARGET).eep |
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427 | $(REMOVE) $(TARGET).obj |
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428 | $(REMOVE) $(TARGET).cof |
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429 | $(REMOVE) $(TARGET).elf |
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430 | $(REMOVE) $(TARGET).map |
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431 | $(REMOVE) $(TARGET).obj |
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432 | $(REMOVE) $(TARGET).a90 |
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433 | $(REMOVE) $(TARGET).sym |
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434 | $(REMOVE) $(TARGET).lnk |
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435 | $(REMOVE) $(TARGET).lss |
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436 | $(REMOVE) $(OBJ) |
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437 | $(REMOVE) $(LST) |
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438 | $(REMOVE) $(SRC:.c=.s) |
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439 | $(REMOVE) $(SRC:.c=.d) |
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440 | |||
441 | |||
442 | # Automatically generate C source code dependencies. |
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443 | # (Code originally taken from the GNU make user manual and modified |
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444 | # (See README.txt Credits).) |
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445 | # |
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446 | # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
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447 | # (see the SHELL variable defined above). |
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448 | # This may not work with other shells or other seds. |
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449 | # |
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450 | %.d: %.c |
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451 | set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
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452 | | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
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453 | [ -s $@ ] || rm -f $@ |
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454 | |||
455 | |||
456 | # Remove the '-' if you want to see the dependency files generated. |
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457 | -include $(SRC:.c=.d) |
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458 | |||
459 | |||
460 | |||
461 | # Listing of phony targets. |
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462 | .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
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463 | clean clean_list program |
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464 |