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Makefile
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Makefile
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####################################################################################################
# Makefile generated by updateMakefile.py
# Version 1.7
# Last run: 2020-05-20 18:35:56.180671
####################################################################################################
######################################
# target
######################################
TARGET = dog
######################################
# building variables
######################################
# debug build?
DEBUG = 1
# optimization
OPT = -Og
#######################################
# paths
#######################################
# Build path
BUILD_DIR = build
######################################
# source
######################################
# C sources
C_SOURCES = \
task/all_task_creat/all_task_creat.c \
task/attitude/src/attitude_task.c \
task/attitude/src/attitude.c \
task/attitude/src/bsp_i2c.c \
task/attitude/src/mpu6050.c \
task/attitude/eMPL/inv_mpu_dmp_motion_driver.c \
task/attitude/eMPL/inv_mpu.c \
task/gait/src/gait_task.c \
task/gait/src/gait.c \
task/hal_redefine/hal_redefine.c \
task/Inverse_Kinematics/src/legInverse_Kinematics.c \
task/Kinematics/src/legKinematics.c \
task/pca9685/src/pca_drive_task.c \
task/pca9685/src/pca9685.c \
task/pca9685/src/theta2dev.c \
task/printf_redefine/printf_redefine.c \
Src/main.c \
Src/gpio.c \
Src/freertos.c \
Src/i2c.c \
Src/usart.c \
Src/stm32f7xx_it.c \
Src/stm32f7xx_hal_msp.c \
Src/stm32f7xx_hal_timebase_tim.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c \
Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c \
Src/system_stm32f7xx.c \
Middlewares/Third_Party/FreeRTOS/Source/croutine.c \
Middlewares/Third_Party/FreeRTOS/Source/event_groups.c \
Middlewares/Third_Party/FreeRTOS/Source/list.c \
Middlewares/Third_Party/FreeRTOS/Source/queue.c \
Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c \
Middlewares/Third_Party/FreeRTOS/Source/tasks.c \
Middlewares/Third_Party/FreeRTOS/Source/timers.c \
Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c \
Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c \
Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1/port.c
# ASM sources
ASM_SOURCES = \
startup_stm32f767xx.s
#######################################
# binaries
#######################################
PREFIX = arm-none-eabi-
# The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
# either it can be added to the PATH environment variable.
ifdef GCC_PATH
CC = $(GCC_PATH)/$(PREFIX)gcc
AS = $(GCC_PATH)/$(PREFIX)gcc -x assembler-with-cpp
CP = $(GCC_PATH)/$(PREFIX)objcopy
SZ = $(GCC_PATH)/$(PREFIX)size
else
CC = $(PREFIX)gcc
AS = $(PREFIX)gcc -x assembler-with-cpp
CP = $(PREFIX)objcopy
SZ = $(PREFIX)size
endif
HEX = $(CP) -O ihex
BIN = $(CP) -O binary -S
#######################################
# CFLAGS
#######################################
# cpu
CPU = -mcpu=cortex-m7
# fpu
FPU = -mfpu=fpv5-d16
# float-abi
FLOAT-ABI = -mfloat-abi=hard
# mcu
MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
# macros for gcc
# AS defines
AS_DEFS =
# C defines
C_DEFS = \
-DUSE_HAL_DRIVER \
-DSTM32F767xx
# AS includes
AS_INCLUDES = \
-IInc
# C includes
C_INCLUDES = \
-Itask/all_task_creat \
-Itask/attitude/eMPL \
-Itask/attitude/inc \
-Itask/DH_Model \
-Itask/gait/inc \
-Itask/Inverse_Kinematics/inc \
-Itask/Kinematics/inc \
-Itask/pca9685/inc \
-IInc \
-IDrivers/STM32F7xx_HAL_Driver/Inc \
-IDrivers/STM32F7xx_HAL_Driver/Inc/Legacy \
-IMiddlewares/Third_Party/FreeRTOS/Source/include \
-IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 \
-IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1 \
-IDrivers/CMSIS/Device/ST/STM32F7xx/Include \
-IDrivers/CMSIS/Include \
-IDrivers/CMSIS/Include
# compile gcc flags
ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
ifeq ($(DEBUG), 1)
CFLAGS += -g -gdwarf-2
endif
# Generate dependency information
CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
#######################################
# LDFLAGS
#######################################
# link script
LDSCRIPT = STM32F767IGTx_FLASH.ld
# libraries
LIBS = -lc -lm -lnosys
LIBDIR =
LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections -u _printf_float
# default action: build all
all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
#######################################
# build the application
#######################################
# list of objects
OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
vpath %.c $(sort $(dir $(C_SOURCES)))
# list of ASM program objects
OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
vpath %.s $(sort $(dir $(ASM_SOURCES)))
$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR)
$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
$(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
$(AS) -c $(CFLAGS) $< -o $@
$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
$(CC) $(OBJECTS) $(LDFLAGS) -o $@
$(SZ) $@
$(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
$(HEX) $< $@
$(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
$(BIN) $< $@
$(BUILD_DIR):
mkdir $@
#######################################
# clean up
#######################################
clean:
-rm -fR $(BUILD_DIR)
#######################################
# dependencies
#######################################
-include $(wildcard $(BUILD_DIR)/*.d)
# *** EOF ***
#######################################
# Print makefile variables
#######################################
print-%:
@echo VARIABLE=$($*)