mirror of
https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
449 lines
14 KiB
Makefile
Executable File
449 lines
14 KiB
Makefile
Executable File
# Set verbosity
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ifeq ($(V), 1)
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Q =
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else
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Q = @
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endif
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# Commands
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CC = $(Q)arm-none-eabi-gcc
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AS = $(Q)arm-none-eabi-as
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LD = $(Q)arm-none-eabi-ld
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AR = $(Q)arm-none-eabi-ar
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RM = $(Q)rm
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CPP = $(Q)arm-none-eabi-cpp
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SIZE = $(Q)arm-none-eabi-size
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STRIP = $(Q)arm-none-eabi-strip -s
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OBJCOPY = $(Q)arm-none-eabi-objcopy
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OBJDUMP = $(Q)arm-none-eabi-objdump
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PYTHON = $(Q)python
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MKDFU = micropython/tools/dfu.py
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PYDFU = $(Q)../usr/pydfu.py
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MKDIR = $(Q)mkdir
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ECHO = $(Q)@echo
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MAKE = $(Q)make
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CAT = $(Q)cat
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# Targets
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OPENMV = openmv
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BOOTLOADER = bootloader
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FIRMWARE = firmware
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# Directories
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TOP_DIR=$(shell pwd)
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BUILD=$(TOP_DIR)/build
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CMSIS_DIR=cmsis
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STUSB_DIR=stusb
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MICROPY_DIR=micropython
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OMV_DIR=omv
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WINC1500_DIR=winc1500
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BOOT_DIR=bootloader
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# Additional qstr definitions for OpenMV
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OMV_QSTR_DEFS = $(TOP_DIR)/$(OMV_DIR)/py/qstrdefsomv.h
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# Target
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TARGET ?= OPENMV3
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FW_DIR=$(TOP_DIR)/../firmware/$(TARGET)
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OMV_BOARD_CONFIG_DIR=$(TOP_DIR)/$(OMV_DIR)/boards/$(TARGET)/
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MP_BOARD_CONFIG_DIR=$(TOP_DIR)/$(MICROPY_DIR)/stmhal/boards/$(TARGET)/
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# Debugging/Optimization
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ifeq ($(DEBUG), 1)
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CFLAGS += -O0 -ggdb3 -DPENDSV_DEBUG
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else
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CFLAGS += -O2 -ggdb3 -DNDEBUG
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endif
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# OpenMV1 is No longer supported
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ifeq ($(TARGET), OPENMV1)
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BRACKET = :)
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$(error "OPENMV1 is no longer supported :O Have fun hacking the code $(BRACKET)")
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endif
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# Enable debug printf
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ifeq ($(DEBUG_PRINTF), 1)
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CFLAGS += -DDEBUG_PRINTF
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endif
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# Enable stack protection
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ifeq ($(STACK_PROTECTOR), 1)
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CFLAGS += -fstack-protector-all -DSTACK_PROTECTOR
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endif
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# Compiler Flags
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include $(OMV_BOARD_CONFIG_DIR)/omv_boardconfig.mk
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CFLAGS += -std=gnu99 -Wall -Werror -Warray-bounds -mthumb -nostartfiles -mabi=aapcs-linux -fdata-sections -ffunction-sections
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CFLAGS += -D$(MCU) -D$(CFLAGS_MCU) -D$(ARM_MATH) -fsingle-precision-constant -Wdouble-promotion -mcpu=$(CPU) -mtune=$(CPU) -mfpu=$(FPU) -mfloat-abi=hard
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CFLAGS += -D__FPU_PRESENT=1 -D__VFP_FP__ -DUSE_USB_FS -DUSE_DEVICE_MODE -DUSE_USB_OTG_ID=0 -DHSE_VALUE=12000000 -D$(TARGET) -DSTM32_HAL_H=$(HAL_INC) -DVECT_TAB_OFFSET=$(VECT_TAB_OFFSET) -DMAIN_APP_ADDR=$(MAIN_APP_ADDR)
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CFLAGS += -I. -Iinclude
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CFLAGS += -I$(TOP_DIR)/$(BOOT_DIR)/include/
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CFLAGS += -I$(TOP_DIR)/$(CMSIS_DIR)/include/
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CFLAGS += -I$(TOP_DIR)/$(CMSIS_DIR)/include/st
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CFLAGS += -I$(TOP_DIR)/$(STHAL_DIR)/include/
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CFLAGS += -I$(BUILD)/$(MICROPY_DIR)/
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CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/
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CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/py/
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CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/lib/mp-readline
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CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/lib/oofatfs
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CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/stmhal/
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CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/stmhal/usbdev/core/inc/
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CFLAGS += -I$(TOP_DIR)/$(MICROPY_DIR)/stmhal/usbdev/class/inc/
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CFLAGS += -I$(MP_BOARD_CONFIG_DIR)
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CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/
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CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/py/
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CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/img/
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CFLAGS += -I$(OMV_BOARD_CONFIG_DIR)
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CFLAGS += -I$(TOP_DIR)/$(WINC1500_DIR)/include/
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# Linker Flags
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LDFLAGS = -mcpu=$(CPU) -mabi=aapcs-linux -mthumb -mfpu=$(FPU) -mfloat-abi=hard\
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-nostdlib -Wl,--gc-sections -Wl,-T$(BUILD)/stm32fxxx.lds
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# Linker Flags
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BOOT_LDFLAGS = -mcpu=$(CPU) -mabi=aapcs-linux -mthumb -mfpu=$(FPU) -mfloat-abi=hard\
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-nostdlib -Wl,--gc-sections -Wl,-T$(BUILD)/$(BOOT_DIR)/stm32fxxx.lds
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#------------- Libraries ----------------#
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FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/CommonTables/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/FastMathFunctions/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/MatrixFunctions/*.o)
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#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/ComplexMathFunctions/*.o)
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#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/ControllerFunctions/*.o)
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#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/FilteringFunctions/*.o)
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#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/StatisticsFunctions/*.o)
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#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/SupportFunctions/*.o)
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#FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/TransformFunctions/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(STHAL_DIR)/src/*.o)
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FIRM_OBJ += $(wildcard $(BUILD)/$(WINC1500_DIR)/src/*.o)
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#------------- OpenMV Objects ----------------#
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FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/, \
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main.o \
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xalloc.o \
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fb_alloc.o \
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umm_malloc.o \
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ff_wrapper.o \
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framebuffer.o \
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array.o \
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usbdbg.o \
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cambus.o \
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ov9650.o \
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ov2640.o \
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ov7725.o \
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mt9v034.o \
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sensor.o \
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stm32fxxx_hal_msp.o \
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soft_i2c.o \
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mutex.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/img/,\
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blob.o \
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qrcode.o \
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apriltag.o \
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dmtx.o \
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zbar.o \
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fmath.o \
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fsort.o \
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fft.o \
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haar.o \
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imlib.o \
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collections.o \
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stats.o \
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morph.o \
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integral.o \
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integral_mw.o \
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kmeans.o \
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lab_tab.o \
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xyz_tab.o \
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yuv_tab.o \
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rainbow_tab.o \
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rgb2rgb_tab.o \
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invariant_tab.o \
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midpoint.o \
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mean.o \
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mode.o \
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median.o \
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pool.o \
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point.o \
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rectangle.o \
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bmp.o \
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ppm.o \
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gif.o \
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mjpeg.o \
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fast.o \
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agast.o \
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orb.o \
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template.o \
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phasecorrelation.o \
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font.o \
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jpeg.o \
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lbp.o \
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eye.o \
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hough.o \
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lsd.o \
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sincos_tab.o \
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edge.o \
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hog.o \
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lenet.o \
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lenet_model_num.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/py/, \
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py_helper.o \
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py_sensor.o \
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py_image.o \
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py_time.o \
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py_lcd.o \
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py_fir.o \
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py_gif.o \
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py_mjpeg.o \
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py_winc.o \
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py_cpufreq.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(CMSIS_DIR)/src/st/,\
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$(STARTUP).o \
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system_stm32fxxx.o \
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)
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#------------- MicroPy Core -------------------#
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FIRM_OBJ += $(wildcard $(BUILD)/$(MICROPY_DIR)/py/*.o)
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#------------- MicroPy Objects ----------------#
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/,\
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stm32_it.o \
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usbd_conf.o \
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usbd_desc.o \
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usbd_cdc_interface.o \
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usbd_hid_interface.o \
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usbd_msc_storage.o \
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pendsv.o \
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bufhelper.o \
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usb.o \
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gchelper.o \
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gccollect.o \
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help.o \
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flash.o \
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storage.o \
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rtc.o \
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irq.o \
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adc.o \
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dac.o \
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dma.o \
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uart.o \
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systick.o \
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i2c.o \
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spi.o \
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can.o \
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pin.o \
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pin_defs_stmhal.o \
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pin_named_pins.o \
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pins_$(TARGET).o \
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timer.o \
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servo.o \
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rng.o \
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led.o \
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wdt.o \
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mphalport.o \
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sdcard.o \
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fatfs_port.o \
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extint.o \
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modpyb.o \
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modstm.o \
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moduos.o \
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modutime.o \
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modusocket.o \
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modnetwork.o \
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modmachine.o \
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machine_i2c.o \
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)
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#------------- MicroPy Objects ----------------#
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/lib/,\
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utils/pyexec.o \
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utils/printf.o \
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utils/interrupt_char.o \
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utils/sys_stdio_mphal.o \
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libc/string0.o \
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netutils/netutils.o \
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timeutils/timeutils.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/lib/libm/,\
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math.o \
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roundf.o \
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asinfacosf.o \
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atanf.o \
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atan2f.o \
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fmodf.o \
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log1pf.o \
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acoshf.o \
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asinhf.o \
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atanhf.o \
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kf_rem_pio2.o \
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kf_sin.o \
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kf_cos.o \
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kf_tan.o \
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ef_rem_pio2.o \
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erf_lgamma.o \
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sf_sin.o \
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sf_cos.o \
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sf_tan.o \
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sf_frexp.o \
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sf_modf.o \
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sf_ldexp.o \
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sf_erf.o \
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wf_lgamma.o \
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wf_tgamma.o \
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nearbyintf.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/lib/mp-readline/,\
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readline.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/usbdev/, \
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core/src/usbd_core.o \
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core/src/usbd_ctlreq.o \
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core/src/usbd_ioreq.o \
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class/src/usbd_cdc_msc_hid.o \
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class/src/usbd_msc_bot.o \
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class/src/usbd_msc_scsi.o \
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class/src/usbd_msc_data.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/extmod/,\
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modujson.o \
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modure.o \
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moduzlib.o \
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moduhashlib.o \
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modubinascii.o \
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modurandom.o \
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moduselect.o \
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modutimeq.o \
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moduheapq.o \
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vfs.o \
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vfs_fat.o \
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vfs_fat_file.o \
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vfs_fat_misc.o \
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vfs_reader.o \
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vfs_fat_diskio.o \
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virtpin.o \
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machine_mem.o \
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machine_i2c.o \
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machine_spi.o \
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machine_pulse.o \
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machine_signal.o \
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machine_pinbase.o \
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utime_mphal.o \
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modonewire.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/lib/oofatfs/,\
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ff.o \
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option/unicode.o \
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)
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# Bootloader object files
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BOOT_OBJ += $(wildcard $(BUILD)/$(BOOT_DIR)/src/*.o)
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BOOT_OBJ += $(wildcard $(BUILD)/$(STHAL_DIR)/src/*.o)
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BOOT_OBJ += $(addprefix $(BUILD)/$(CMSIS_DIR)/src/st/,\
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$(STARTUP).o \
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system_stm32fxxx.o \
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)
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BOOT_OBJ += $(addprefix $(BUILD)/$(MICROPY_DIR)/usbdev/, \
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core/src/usbd_core.o \
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core/src/usbd_ctlreq.o \
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core/src/usbd_ioreq.o \
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)
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###################################################
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#Export Variables
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export Q
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export CC
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export AS
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export LD
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export AR
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export SIZE
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export OBJCOPY
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export OBJDUMP
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export MKDIR
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export ECHO
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export CFLAGS
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export LDFLAGS
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export TOP_DIR
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export BUILD
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export TARGET
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export STARTUP
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###################################################
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all: $(OPENMV)
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$(BUILD):
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$(MKDIR) -p $@
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BOOTLOADER_OBJS: FIRMWARE_OBJS
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$(MAKE) -C $(BOOT_DIR) BUILD=$(BUILD)/$(BOOT_DIR)
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FIRMWARE_OBJS:
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$(MAKE) -C $(CMSIS_DIR) BUILD=$(BUILD)/$(CMSIS_DIR) CFLAGS="$(CFLAGS) -fno-strict-aliasing"
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$(MAKE) -C $(STHAL_DIR) BUILD=$(BUILD)/$(STHAL_DIR) CFLAGS="$(CFLAGS) -fno-strict-aliasing"
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$(MAKE) -C $(MICROPY_DIR)/stmhal BUILD=$(BUILD)/$(MICROPY_DIR) BOARD=$(TARGET) QSTR_DEFS=$(OMV_QSTR_DEFS)
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$(MAKE) -C $(WINC1500_DIR) BUILD=$(BUILD)/$(WINC1500_DIR)
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$(MAKE) -C $(OMV_DIR) BUILD=$(BUILD)/$(OMV_DIR)
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# This target generates the main/app firmware image located at 0x08010000
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$(FIRMWARE): FIRMWARE_OBJS
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$(CPP) -P -E -I$(OMV_BOARD_CONFIG_DIR) $(OMV_DIR)/stm32fxxx.ld.S > $(BUILD)/stm32fxxx.lds
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$(CC) $(LDFLAGS) $(FIRM_OBJ) -o $(FW_DIR)/$(FIRMWARE).elf
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$(OBJCOPY) -Obinary $(FW_DIR)/$(FIRMWARE).elf $(FW_DIR)/$(FIRMWARE).bin
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$(PYTHON) $(MKDFU) -b $(MAIN_APP_ADDR):$(FW_DIR)/$(FIRMWARE).bin $(FW_DIR)/$(FIRMWARE).dfu
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# This target generates the bootloader. The bootloader binary is generated twice,
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# once without padding, to generate the bootloader.dfu file, and once with padding
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# up to the main fw image (MAIN_APP_ADDR), to generate a contiguous firmware.bin image.
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$(BOOTLOADER): FIRMWARE_OBJS BOOTLOADER_OBJS
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$(CPP) -P -E -I$(OMV_BOARD_CONFIG_DIR) $(BOOT_DIR)/stm32fxxx.ld.S > $(BUILD)/$(BOOT_DIR)/stm32fxxx.lds
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$(CC) $(BOOT_LDFLAGS) $(BOOT_OBJ) -o $(FW_DIR)/$(BOOTLOADER).elf
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$(OBJCOPY) -Obinary $(FW_DIR)/$(BOOTLOADER).elf $(FW_DIR)/$(BOOTLOADER).bin
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$(PYTHON) $(MKDFU) -b 0x08000000:$(FW_DIR)/$(BOOTLOADER).bin $(FW_DIR)/$(BOOTLOADER).dfu
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$(OBJCOPY) -Obinary --pad-to=$(MAIN_APP_ADDR) $(FW_DIR)/$(BOOTLOADER).elf $(FW_DIR)/$(BOOTLOADER).bin
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# This target generates a combined bootloader+main firmware image.
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$(OPENMV): $(BOOTLOADER) $(FIRMWARE) | $(BUILD)
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$(CAT) $(FW_DIR)/$(BOOTLOADER).bin $(FW_DIR)/$(FIRMWARE).bin > $(FW_DIR)/$(OPENMV).bin
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$(PYTHON) $(MKDFU) -b 0x08000000:$(FW_DIR)/$(BOOTLOADER).bin -b $(MAIN_APP_ADDR):$(FW_DIR)/$(FIRMWARE).bin $(FW_DIR)/$(OPENMV).dfu
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$(SIZE) $(FW_DIR)/$(BOOTLOADER).elf
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$(SIZE) $(FW_DIR)/$(FIRMWARE).elf
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size:
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$(SIZE) --format=SysV $(FW_DIR)/$(BOOTLOADER).elf
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$(SIZE) --format=SysV $(FW_DIR)/$(FIRMWARE).elf
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clean:
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$(RM) -fr $(BUILD)
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# Flash the bootloader
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flash_boot::
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$(PYDFU) -u $(FW_DIR)/$(BOOTLOADER).dfu
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# Flash the main firmware image
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flash_image::
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$(PYDFU) -u $(FW_DIR)/$(FIRMWARE).dfu
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# Flash the bootloader + main firmware image (DFU)
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flash_dfu::
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$(PYDFU) -m -u $(FW_DIR)/$(OPENMV).dfu
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# Flash the bootloader + main firmware image (binary)
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flash_bin::
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$(PYDFU) -m -u $(FW_DIR)/$(OPENMV).bin
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