init commit
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ae325683f9
267 changed files with 44630 additions and 0 deletions
295
common.mk
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295
common.mk
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ARCHTUPLE=arm-none-eabi-
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DEVICE=VEX EDR V5
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MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
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CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES -D_POSIX_TIMERS -D_POSIX_MONOTONIC_CLOCK
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GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables
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WARNFLAGS+=-Wno-psabi
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SPACE := $() $()
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COMMA := ,
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DEPDIR := .d
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$(shell mkdir -p $(DEPDIR))
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DEPFLAGS = -MT $$@ -MMD -MP -MF $(DEPDIR)/$$*.Td
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MAKEDEPFOLDER = -$(VV)mkdir -p $(DEPDIR)/$$(dir $$(patsubst $(BINDIR)/%, %, $(ROOT)/$$@))
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RENAMEDEPENDENCYFILE = -$(VV)mv -f $(DEPDIR)/$$*.Td $$(patsubst $(SRCDIR)/%, $(DEPDIR)/%.d, $(ROOT)/$$<) && touch $$@
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LIBRARIES+=$(wildcard $(FWDIR)/*.a)
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# Cannot include newlib and libc because not all of the req'd stubs are implemented
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EXCLUDE_COLD_LIBRARIES+=$(FWDIR)/libc.a $(FWDIR)/libm.a
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COLD_LIBRARIES=$(filter-out $(EXCLUDE_COLD_LIBRARIES), $(LIBRARIES))
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wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
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LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld
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ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
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CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu11
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CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu++17
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LDFLAGS=$(MFLAGS) $(WARNFLAGS) -nostdlib $(GCCFLAGS)
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SIZEFLAGS=-d --common
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NUMFMTFLAGS=--to=iec --format %.2f --suffix=B
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AR:=$(ARCHTUPLE)ar
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# using arm-none-eabi-as generates a listing by default. This produces a super verbose output.
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# Using gcc accomplishes the same thing without the extra output
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AS:=$(ARCHTUPLE)gcc
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CC:=$(ARCHTUPLE)gcc
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CXX:=$(ARCHTUPLE)g++
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LD:=$(ARCHTUPLE)g++
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OBJCOPY:=$(ARCHTUPLE)objcopy
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SIZETOOL:=$(ARCHTUPLE)size
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READELF:=$(ARCHTUPLE)readelf
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STRIP:=$(ARCHTUPLE)strip
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ifneq (, $(shell command -v gnumfmt 2> /dev/null))
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SIZES_NUMFMT:=| gnumfmt --field=-4 --header $(NUMFMTFLAGS)
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else
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ifneq (, $(shell command -v numfmt 2> /dev/null))
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SIZES_NUMFMT:=| numfmt --field=-4 --header $(NUMFMTFLAGS)
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else
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SIZES_NUMFMT:=
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endif
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endif
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ifneq (, $(shell command -v sed 2> /dev/null))
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SIZES_SED:=| sed -e 's/ dec/total/'
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else
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SIZES_SED:=
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endif
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rwildcard=$(foreach d,$(filter-out $3,$(wildcard $1*)),$(call rwildcard,$d/,$2,$3)$(filter $(subst *,%,$2),$d))
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# Colors
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NO_COLOR=$(shell printf "%b" "\033[0m")
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OK_COLOR=$(shell printf "%b" "\033[32;01m")
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ERROR_COLOR=$(shell printf "%b" "\033[31;01m")
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WARN_COLOR=$(shell printf "%b" "\033[33;01m")
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STEP_COLOR=$(shell printf "%b" "\033[37;01m")
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OK_STRING=$(OK_COLOR)[OK]$(NO_COLOR)
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DONE_STRING=$(OK_COLOR)[DONE]$(NO_COLOR)
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ERROR_STRING=$(ERROR_COLOR)[ERRORS]$(NO_COLOR)
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WARN_STRING=$(WARN_COLOR)[WARNINGS]$(NO_COLOR)
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ECHO=/bin/printf "%s\n"
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echo=@$(ECHO) "$2$1$(NO_COLOR)"
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echon=@/bin/printf "%s" "$2$1$(NO_COLOR)"
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define test_output_2
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@if test $(BUILD_VERBOSE) -eq $(or $4,1); then printf "%s\n" "$2"; fi;
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@output="$$($2 2>&1)"; exit=$$?; \
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if test 0 -ne $$exit; then \
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printf "%s%s\n" "$1" "$(ERROR_STRING)"; \
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printf "%s\n" "$$output"; \
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exit $$exit; \
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elif test -n "$$output"; then \
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printf "%s%s\n" "$1" "$(WARN_STRING)"; \
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printf "%s\n" "$$output"; \
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else \
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printf "%s%s\n" "$1" "$3"; \
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fi;
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endef
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define test_output
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@output=$$($1 2>&1); exit=$$?; \
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if test 0 -ne $$exit; then \
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printf "%s\n" "$(ERROR_STRING)" $$?; \
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printf "%s\n" $$output; \
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exit $$exit; \
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elif test -n "$$output"; then \
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printf "%s\n" "$(WARN_STRING)"; \
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printf "%s" $$output; \
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else \
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printf "%s\n" "$2"; \
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fi;
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endef
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# Makefile Verbosity
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ifeq ("$(origin VERBOSE)", "command line")
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BUILD_VERBOSE = $(VERBOSE)
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endif
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ifeq ("$(origin V)", "command line")
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BUILD_VERBOSE = $(V)
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endif
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ifndef BUILD_VERBOSE
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BUILD_VERBOSE = 0
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endif
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# R is reduced (default messages) - build verbose = 0
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# V is verbose messages - verbosity = 1
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# VV is super verbose - verbosity = 2
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ifeq ($(BUILD_VERBOSE), 0)
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R = @echo
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D = @
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VV = @
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endif
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ifeq ($(BUILD_VERBOSE), 1)
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R = @echo
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D =
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VV = @
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endif
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ifeq ($(BUILD_VERBOSE), 2)
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R =
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D =
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VV =
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endif
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INCLUDE=$(foreach dir,$(INCDIR) $(EXTRA_INCDIR),-iquote"$(dir)")
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ASMSRC=$(foreach asmext,$(ASMEXTS),$(call rwildcard, $(SRCDIR),*.$(asmext), $1))
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ASMOBJ=$(addprefix $(BINDIR)/,$(patsubst $(SRCDIR)/%,%.o,$(call ASMSRC,$1)))
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CSRC=$(foreach cext,$(CEXTS),$(call rwildcard, $(SRCDIR),*.$(cext), $1))
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COBJ=$(addprefix $(BINDIR)/,$(patsubst $(SRCDIR)/%,%.o,$(call CSRC, $1)))
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CXXSRC=$(foreach cxxext,$(CXXEXTS),$(call rwildcard, $(SRCDIR),*.$(cxxext), $1))
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CXXOBJ=$(addprefix $(BINDIR)/,$(patsubst $(SRCDIR)/%,%.o,$(call CXXSRC,$1)))
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GETALLOBJ=$(sort $(call ASMOBJ,$1) $(call COBJ,$1) $(call CXXOBJ,$1))
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ARCHIVE_TEXT_LIST=$(subst $(SPACE),$(COMMA),$(notdir $(basename $(LIBRARIES))))
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LDTIMEOBJ:=$(BINDIR)/_pros_ld_timestamp.o
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MONOLITH_BIN:=$(BINDIR)/monolith.bin
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MONOLITH_ELF:=$(basename $(MONOLITH_BIN)).elf
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HOT_BIN:=$(BINDIR)/hot.package.bin
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HOT_ELF:=$(basename $(HOT_BIN)).elf
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COLD_BIN:=$(BINDIR)/cold.package.bin
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COLD_ELF:=$(basename $(COLD_BIN)).elf
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# Check if USE_PACKAGE is defined to check for migration steps from purduesigbots/pros#87
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ifndef USE_PACKAGE
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$(error Your Makefile must be migrated! Visit https://pros.cs.purdue.edu/v5/releases/kernel3.1.6.html to learn how)
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endif
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DEFAULT_BIN=$(MONOLITH_BIN)
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ifeq ($(USE_PACKAGE),1)
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DEFAULT_BIN=$(HOT_BIN)
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endif
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-include $(wildcard $(FWDIR)/*.mk)
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.PHONY: all clean quick
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quick: $(DEFAULT_BIN)
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all: clean $(DEFAULT_BIN)
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clean:
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@echo Cleaning project
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-$Drm -rf $(BINDIR)
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-$Drm -rf $(DEPDIR)
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ifeq ($(IS_LIBRARY),1)
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ifeq ($(LIBNAME),libbest)
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$(errror "You should rename your library! libbest is the default library name and should be changed")
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endif
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LIBAR=$(BINDIR)/$(LIBNAME).a
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TEMPLATE_DIR=$(ROOT)/template
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clean-template:
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@echo Cleaning $(TEMPLATE_DIR)
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-$Drm -rf $(TEMPLATE_DIR)
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$(LIBAR): $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)) $(EXTRA_LIB_DEPS)
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-$Drm -f $@
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$(call test_output_2,Creating $@ ,$(AR) rcs $@ $^, $(DONE_STRING))
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.PHONY: library
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library: $(LIBAR)
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.PHONY: template
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template: clean-template $(LIBAR)
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$Dpros c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
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endif
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# if project is a library source, compile the archive and link output.elf against the archive rather than source objects
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ifeq ($(IS_LIBRARY),1)
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ELF_DEPS+=$(filter-out $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)), $(call GETALLOBJ,$(EXCLUDE_SRCDIRS)))
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LIBRARIES+=$(LIBAR)
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else
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ELF_DEPS+=$(call GETALLOBJ,$(EXCLUDE_SRCDIRS))
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endif
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$(MONOLITH_BIN): $(MONOLITH_ELF) $(BINDIR)
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$(call test_output_2,Creating $@ for $(DEVICE) ,$(OBJCOPY) $< -O binary -R .hot_init $@,$(DONE_STRING))
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$(MONOLITH_ELF): $(ELF_DEPS) $(LIBRARIES)
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$(call _pros_ld_timestamp)
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$(call test_output_2,Linking project with $(ARCHIVE_TEXT_LIST) ,$(LD) $(LDFLAGS) $(ELF_DEPS) $(LDTIMEOBJ) $(call wlprefix,-T$(FWDIR)/v5.ld $(LNK_FLAGS)) -o $@,$(OK_STRING))
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@echo Section sizes:
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-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
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$(COLD_BIN): $(COLD_ELF)
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$(call test_output_2,Creating cold package binary for $(DEVICE) ,$(OBJCOPY) $< -O binary -R .hot_init $@,$(DONE_STRING))
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$(COLD_ELF): $(COLD_LIBRARIES)
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$(VV)mkdir -p $(dir $@)
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$(call test_output_2,Creating cold package with $(ARCHIVE_TEXT_LIST) ,$(LD) $(LDFLAGS) $(call wlprefix,--gc-keep-exported --whole-archive $^ -lstdc++ --no-whole-archive) $(call wlprefix,-T$(FWDIR)/v5.ld $(LNK_FLAGS) -o $@),$(OK_STRING))
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$(call test_output_2,Stripping cold package ,$(OBJCOPY) --strip-symbol=install_hot_table --strip-symbol=__libc_init_array --strip-symbol=_PROS_COMPILE_DIRECTORY --strip-symbol=_PROS_COMPILE_TIMESTAMP --strip-symbol=_PROS_COMPILE_TIMESTAMP_INT $@ $@, $(DONE_STRING))
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@echo Section sizes:
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-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
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$(HOT_BIN): $(HOT_ELF) $(COLD_BIN)
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$(call test_output_2,Creating $@ for $(DEVICE) ,$(OBJCOPY) $< -O binary $@,$(DONE_STRING))
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$(HOT_ELF): $(COLD_ELF) $(ELF_DEPS)
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$(call _pros_ld_timestamp)
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$(call test_output_2,Linking hot project with $(COLD_ELF) and $(ARCHIVE_TEXT_LIST) ,$(LD) -nostartfiles $(LDFLAGS) $(call wlprefix,-R $<) $(filter-out $<,$^) $(LDTIMEOBJ) $(LIBRARIES) $(call wlprefix,-T$(FWDIR)/v5-hot.ld $(LNK_FLAGS) -o $@),$(OK_STRING))
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@printf "%s\n" "Section sizes:"
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-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
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define asm_rule
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$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
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$(VV)mkdir -p $$(dir $$@)
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$$(call test_output_2,Compiled $$< ,$(AS) -c $(ASMFLAGS) -o $$@ $$<,$(OK_STRING))
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endef
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$(foreach asmext,$(ASMEXTS),$(eval $(call asm_rule,$(asmext))))
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define c_rule
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$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
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$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename $1).d
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$(VV)mkdir -p $$(dir $$@)
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$(MAKEDEPFOLDER)
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$$(call test_output_2,Compiled $$< ,$(CC) -c $(INCLUDE) -iquote"$(INCDIR)/$$(dir $$*)" $(CFLAGS) $(EXTRA_CFLAGS) $(DEPFLAGS) -o $$@ $$<,$(OK_STRING))
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$(RENAMEDEPENDENCYFILE)
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endef
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$(foreach cext,$(CEXTS),$(eval $(call c_rule,$(cext))))
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define cxx_rule
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$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
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$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename %).d
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$(VV)mkdir -p $$(dir $$@)
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$(MAKEDEPFOLDER)
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$$(call test_output_2,Compiled $$< ,$(CXX) -c $(INCLUDE) -iquote"$(INCDIR)/$$(dir $$*)" $(CXXFLAGS) $(EXTRA_CXXFLAGS) $(DEPFLAGS) -o $$@ $$<,$(OK_STRING))
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$(RENAMEDEPENDENCYFILE)
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endef
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$(foreach cxxext,$(CXXEXTS),$(eval $(call cxx_rule,$(cxxext))))
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define _pros_ld_timestamp
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$(VV)mkdir -p $(dir $(LDTIMEOBJ))
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@# Pipe a line of code defining _PROS_COMPILE_TOOLSTAMP and _PROS_COMPILE_DIRECTORY into GCC,
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@# which allows compilation from stdin. We define _PROS_COMPILE_DIRECTORY using a command line-defined macro
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@# which is the pwd | tail bit, which will truncate the path to the last 23 characters
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@#
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@# const int _PROS_COMPILE_TIMESTAMP_INT = $(( $(date +%s) - $(date +%z) * 3600 ))
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@# char const * const _PROS_COMPILE_TIEMSTAMP = __DATE__ " " __TIME__
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@# char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";
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@#
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@# The shell command $$(($$(date +%s)+($$(date +%-z)/100*3600))) fetches the current
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@# unix timestamp, and then adds the UTC timezone offset to account for time zones.
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$(call test_output_2,Adding timestamp ,echo 'const int _PROS_COMPILE_TIMESTAMP_INT = $(shell echo $$(($$(date +%s)+($$(date +%-z)/100*3600)))); char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(wildcard $(shell pwd | tail -c 23))";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
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endef
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# these rules are for build-compile-commands, which just print out sysroot information
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cc-sysroot:
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@echo | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) --verbose -o /dev/null -
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cxx-sysroot:
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@echo | $(CXX) -c -x c++ $(CXXFLAGS) $(EXTRA_CXXFLAGS) --verbose -o /dev/null -
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$(DEPDIR)/%.d: ;
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.PRECIOUS: $(DEPDIR)/%.d
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include $(wildcard $(patsubst $(SRCDIR)/%,$(DEPDIR)/%.d,$(CSRC) $(CXXSRC)))
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